EMERGE applies Open Science policies to ensure that all scientists, policymakers, end-users, and general public can have access to our algorithms and software. Find below all currently available repositories.
A plugin to PyElastica for the simulation of HSA robots
This repository contains a plugin for PyElastica to simulate robots based on Handed Shearing Auxetics (HSA).
Archetype Computing and Adaptive System 〈ACDS〉
The archetype package implements the Echo State Network model, the Long Short-Term memory model, and the Random Oscillators Network model. Each model is implemented as a Python class using the PyTorch library . The archetypes package defines the way each archetype performs computation and it is therefore at the center of the Archetype Computing System.
HSA planar control
This repository provides implementation and closed-loop simulation of various control strategies for planar HSA robots. Furthermore, it contains ROS2 nodes for planning and control of the planar HSA robots.
Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space
This repository contains the code for the paper Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space by Maximilian Stölzle and Cosimo Della Santina presented at NeurIPS 2024
JAX Soft Robot Modeling
This repository contains symbolic derivations of the kinematics and dynamics of various soft robots using Sympy. This project was later replaced by SoRoMoX (Soft Robot Models in jaX).
Soft Robot Models in jaX (SoRoMoX)
SoRoMoX is a fully numerical, JIT-compilable Python/JAX implementation of control-oriented models for articulated and continuum soft robots.
