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SoftCon: A Soft Octopus Swimming Control Framework

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SoftCon is an octopus swimming control framework: it uses tetrahedral soft-body dynamics, muscle constraints that contract along fibers, and activation traveling waves generated by a keyframe matrix and propagation filtering, forming a control chain from actuation to motion; the coordination policy is learned with PPO rather than reconstructed. The framework originates from SIGGRAPH Asia 2019.

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  1. SoftCon: Octopus swimming control based on bionic muscle actuation and soft-body dynamics

    The SoftCon framework builds an octopus swimming control pipeline from tetrahedral soft-body dynamics, muscle constraints that contract along fibers, and traveling activation waves generated by keyframe matrices and propagation filtering, using PPO to learn coordination rather than reconstruction. The framework originates from SIGGRAPH Asia 2019.

    Guyuehome ·

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Motion controlRobot models and learningData and simulationResearch papers

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