A continuum-mechanics-informed discretization embeds tendon-driven continuum robots in MuJoCo, enabling zero-shot sim-to-real transfer of imitation learning policies for contact-rich manipulation on a 3-segment physical TDCR.
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Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots
A continuum-mechanics-informed discretization embeds tendon-driven continuum robots in MuJoCo, enabling zero-shot sim-to-real transfer of imitation learning policies for contact-rich manipulation on a 3-segment physical TDCR.