magneticMPM

A Framework for Simulation of Magnetic Soft Robots using the Material Point Method

Paper is avaliable on IEEE Xplore: Link

Please Cite:

J. Davy, P. Lloyd, J. H. Chandler and P. Valdastri, "A Framework for Simulation of Magnetic Soft Robots using the Material Point Method," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2023.3268016.

Bibtex

Joshua Davy, Peter Lloyd, James H. Chandler and Pietro Valdastri

Magnetic soft robots are formed of silicone polymers embedded with magnetic elements. Due to the use of external magnetic fields The relationship between magnetic soft materials and external sources of magnetic fields present significant complexities in modelling due to the relationship between material elasticity and magnetic wrench (forces and torques)

We aim to contribute an easy to use simulator for magnetic soft robots capable of modelling dynamic behaviour using the Material Point Method.

magneticMPM is built with the Taichi programming language. Install instructions at bottom of README.

Magnetic Beam Bending

Magnetic Continuum Robot (Pittiglio et al.)

Small Scale Soft Robot (Hu et al.)

Six armed gripper (Xu et al.)

Install

magneticMPM has been tested with Python 3.8 and Taichi 1.5.0. Anaconda is highly recommended.

Create Environment conda create --name py38 python=3.8 conda activate py38

Install Dependencies pip install taichi==1.5.0 numpy trimesh pyyaml matplotlib rtree

Optional pip install pyembtree

Run python beam_bending\main.py python runGripper.py python runTentacle.py python runSmallScaleBot.py

joshDavy1 / magneticMPM