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OpenCR-MuJoCo releases discretized simulation tutorial for tendon-driven continuum robots

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Guyuehome released an OpenCR-MuJoCo tutorial presenting a discretized simulation method for tendon-driven continuum robots in MuJoCo: the continuous backbone is modeled as a rigid chain with elastic joints, and bending is produced by tendon length differences. The tutorial states that static accuracy, release oscillation, and closed-loop tracking have been validated using SoRoSim reference data and the official demo.

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  1. OpenCR-MuJoCo: Discretized MuJoCo simulation of tendon-driven continuum robots

    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.

    Guyuehome ·

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Robot models and learningData and simulationGuides and practice

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