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The aim is to create a simulation toolbox for designing control strategies for robots with compliant actuators before real-world application.

An Open-Source ROS-Gazebo Toolbox for Simulating Robots With Compliant Actuators

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Open-source toolbox simulates articulated soft robots with compliant actuators, indicating practical applications in real-world scenarios.

The aim is to create a simulation toolbox for designing control strategies for robots with compliant actuators before real-world application.
Developed an open-source ROS-Gazebo toolbox consisting of two modules: a compliant actuator plugin and a ROS manager node.
Simulations of various compliant actuators were performed to assess versatility and reliability against real hardware.
Experiments on two articulated soft robots demonstrated that simulations closely match real hardware performance, validating the toolbox's effectiveness for sim2real control design.

Mengacci et al. (2021) studied this question.

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Open-source toolbox simulates articulated soft robots with compliant actuators, indicating practical applications in real-world scenarios.