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simmediumsim-to-realmetric · varies
SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
Description
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional actuation commands remains an open challenge due to nonlinear material phenomena such as hysteresis and manufacturing variability. We present SOFTMAP, a sim-to-real learning framework for real-time 3D forward modeling of tendon-actuated soft finger manipulato