IPAB Workshop - High-Fidelity Simulation and Learning for Continuum Robots

Abstract: This talk introduces SoftManiSim, a fast, open-source simulator for multi-segment continuum robots that models dynamic loading and contact. Designed for real-time use and deep learning integration, SoftManiSim supports parallel simulations and generates high-quality synthetic data for training. I will highlight two key applications: (1) using the simulator to develop a framework for shape-aware control of tendon-driven continuum robots; and (2) applying the simulation framework in a design study aiming to enhance continuum robot stability and safety. Together, these examples illustrate how high-fidelity simulation accelerates both learning and robust deployment in continuum robotics.