An Open MuJoCo Simulation Framework for a Quadrotor Carrying a Tendon-Driven Soft Continuum Arm

Combining aerial robots with soft continuum manipulators promises safe, compliant interaction with the environment, but the coupled dynamics of a free-flying base and a highly deformable, underactuated arm are difficult to study without a suitable simulator. This paper describes an open-source simulation framework, built on the MuJoCo physics engine, for a quadrotor that carries a tendon-driven soft continuum arm underneath its body.

Aus dem Abstract. Unsere Zusammenfassung folgt.