Reproduce “An Open MuJoCo Simulation Framework for a Quadrotor Carrying a Tendon-Driven Soft Continuum Arm” on OpenResearch
Turn your favorite coding agents into research agents that review literature, develop hypotheses, and run experiments.
Universal app for Apple silicon and Intel. Requires macOS 11 or later.
About this paper
Haitham El-Hussieny
The authors present a MuJoCo simulator that models a quadrotor and tendon-driven continuum arm as a coupled system. Its 12-link arm uses a tension-allocation map that produces direction-independent commanded bending moments, while its controller treats arm motion as a disturbance. In a 36-second simulated mission, nominal gains yield 3.14 cm RMS position error, but no prototype validates the model.
Summary by alphaXiv.
Tip: change arxiv.org to autoarxiv.org in any arXiv abstract link to open the paper here.