Sorotoki is an open-source MATLAB toolkit for soft robotics that includes an array of tools for design, modeling, and control. Due to its scientific diversity, it can be challenging for new researchers to quickly familiarize themselves with multiple scientific areas. With the aim to lower this threshold, Sorotoki aims to incorporate multiple layers of soft robotics research into one compact toolkit. Examples include: continuum mechanics, dynamic systems and control theory, topology optimization, computer graphics, and much more to come! The combination provides a highly flexible programming environment and will hopefully aid the development of novel soft robotic research.

Download the latest stable version (v1.03):

git clone --depth 1  https://github.com/BJCaasenbrood/SorotokiCode.git

Installation

Please visit Sorotoki for the installation intruction. If any future updates may occur, just simply run sorotoki.m, and the toolkit will automatically tell you which files are out-of-date.

Applications highlights

• Implicit modeling with Signed Distance Functions (SDFs),
• Finite element method (FEM) using hyper-elastic materials,
• Topology optimization of (pressure-driven) soft robots,
• Dynamical modeling through geometric theory,
• (NEW!) Real-time control of soft robots via Raspi-interface,
• Fast graphics rendering with responsive textures.

REMARK: All images are produced using only MATLAB and SOROTOKI, no additional software was used!

Signed Distance Functions and Meshing -- Sdf.m, Mesh.m

SDF: Implicit modeling of 2D-primes: union and subtraction

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Code available here

SDF: Implicit modeling of 3D-primes: subtraction and intersection

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Code available here

MESH: Signed distance function (SDF) to mesh

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MESH: Polygonal meshing of circular SDF

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Finite Element Method -- Fem.m

FEM: Uni-axial tensile test

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FEM: Topology optimization of PneuNet actuator

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FEM: Deforming PneuNet actuator -- Ecoflex 0030

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FEM: 3D buckling of hyper-elastic beam

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Dynamic Model -- Model.m

MODEL: Simulation of two-link soft robot

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MODEL: Energy-based control of planar soft robot

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MODEL: Basis reconstruction from FEM-data -- Reduced-order modeling

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Graphics Model -- Gmodel.m

GMODEL: Responsive rendering of the Stanford bunny

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GMODEL: Responsive lighting

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GMODEL: Rendering ambient occlusion (AO)

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GMODEL: Rendering sub-surface scattering (SSS)

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Citation

If you are planning on using Sorotoki in your (academic) work, please consider citing the toolkit

@misc{Caasenbrood2018,
  author = {Caasenbrood, Brandon},
  title = {Sorotoki - A Soft Robotics Toolkit for MATLAB},
  year = {2020},
  publisher = {GitHub},
  journal = {GitHub repository},
  howpublished = {\url{https://github.com/BJCaasenbrood/SorotokiCode}},
}