Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation

In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of the MuJoCo physics engine to realize a digital twin of an adaptive soft foot developed for use with legged robots. We rel...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Matteo Crotti, Luca Rossini, Balint K. Hodossy, Anna Pace, Giorgio Grioli, Antonio Bicchi, Manuel G. Catalano
Format:	Article
Language:	English
Published:	IEEE 2025-01-01
Subjects:	Adaptive foot digital twin humanoid robots legged robots locomotion simulation
Online Access:	https://ieeexplore.ieee.org/document/11155105/