# OpenCR-MuJoCo: Discretized MuJoCo simulation of tendon-driven continuum robots

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/aqer0hvk6gx2yn76zgvxlrt49
- Original: https://www.guyuehome.com/detail?id=2108564273937543170

## Summary

OpenCR-MuJoCo presents a discretized simulation method for tendon-driven continuum robots in MuJoCo, modeling the continuous backbone as a rigid chain with elastic joints, where bending is produced by tendon length differences. The work uses SoRoSim reference data and the official demo to validate static accuracy, release oscillation, and closed-loop tracking.