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2022-RAL-SOFA-soft-growing-robots

Implementation of "Towards a Physics-Based Model for Steerable Eversion Growing Robots" to appear on RA-L (Robot and Automation Letter) 2023.

fig fig Navigation scenes for different environments of our implementation of the MAMMOBOT robotic system into SOFA Framework. The first image shows a workspace forms of rigid pegs and the second image shows a navigation through the mammary duct.

Towards a Physics-Based Model for Steerable Eversion Growing Robots,

Zicong Wu, Mikel De Iturrate Reyzabal, S.M.Hadi Sadati, Hongbin Liu, Sebastien Ourselin, Daniel Leff, Robert K.Katzschmann, Kawal Rhode, Christos Bergeles

RA-L 2023 (paper)

Log

  • Added latest mesh and physical parameters of the soft growing robot
  • Added the presentation for the SOFAWeek2022
  • Soon: Video with the presentation at SOFAWeek2022, link to the paper and citation

Requirements

The plugin requires to build SOFA from source code. The plugin has been tested in both Linux (Ubuntu 18.04/20.04) and Windows 10 platform. To install SOFA from source follow the instructions on their webpage for Linux or Windows. We recomend to use clang and ninja to accelerate the compilation in Linux. For Windows 10 compilation, we use Visual Studio 2019.

During the compilation in the CMake-GUI you need to add the SofaPython3 plugin, no need to install anything as you have the option to fetch SofaPython3 directly during compilation. Follow the instructions on their webpage to add the plugin. It requires you to install extra dependencies such as pybind11 and Python <=3.8 + numpy + scipy, already installed for SOFA.

Summary:

  1. Compile SOFA from source code, we recommend the latest stable version from SOFA (current v22.06 by Nov 22)
  2. Fetch and add the SofaPython3 plugin on the CMake-Gui
  3. Follow the instructions on the README to add the SofaMAMMOBOT plugin
  4. Configure and generate the project
  5. Compile SOFA and type runSofa on the terminal to check that the installation is successful

Plugin

All the necessary scripts for the plugin are within the SofaMAMMOBOT folder. To use the plugin refer to the Instructions file on the internal folder.

License and copyright

Please see the LICENSE file for details.

Acknowledgment

This project utilizes SOFA and the official plugin of SofaPython3. We thank the authors of those projects for open-sourcing their code.

Citation

If you found the paper of code useful please cite the following:

@ARTICLE{10008022,
author={Wu, Zicong and Reyzabal, Mikel De Iturrate and Sadati, S.M.Hadi and Liu, Hongbin and Ourselin, Sebastien and Leff, Daniel and Katzschmann, Robert K. and Rhode, Kawal and Bergeles, Christos},
journal={IEEE Robotics and Automation Letters},
title={Towards a Physics-Based Model for Steerable Eversion Growing Robots},
year={2023},
volume={},
number={},
pages={1-8},
doi={10.1109/LRA.2023.3234823}}