A unified formulation which accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented, as described in
F. Renda, F. Giorgio-Serchi, F. Boyer, C. LAschi, J. Dias and L. Seneviratne. A Unified Multi-Soft-Body Dynamic Model for Underwater Soft Robots. International Journal of Robotics reserch (submitted).
Insert your soft robot parameters in:
octopus_driver
and run it to simulate the dynamics. The differential equations are implemented in:
octopus_derivatives
The state vector and other definitions can be found in the paper above.
The author of the algorithm and MATLAB implementation is:
Federico Renda ([email protected]) Department of Mechanical Engineering, Khalifa University Robotics Institute, Khalifa University of Science and Technology, Abu Dhabi.