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simmediumlocomotionmetric · varies
Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation
Description
In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of the MuJoCo physics engine to realize a digital twin of an adaptive soft foot developed for use with legged robots. We release the MuJoCo soft foot digital twin as open source to allow users and researchers to explore new approaches to locomotion. The work includes the system modeling techniques along with the kinematic