PyElastica is the python implementation of Elastica: an open-source project for simulating assemblies of slender, one-dimensional structures using Cosserat Rod theory.
Visit cosseratrods.org for more information and learn about Elastica and Cosserat rod theory.
PyElastica is compatible with Python 3.7 - 3.10.
$ pip install pyelastica Documentation of PyElastica is available here.
We ask that any publications which use Elastica cite as following:
@software{arman_tekinalp_2023_7658872,
author = {Arman Tekinalp and
Seung Hyun Kim and
Yashraj Bhosale and
Tejaswin Parthasarathy and
Noel Naughton and
Maximilian Stölzle and
Zhi Dou and
Chia-Hsien (Cathy) Shih and
Mattia Gazzola},
title = {{PyElastica: Open-source software for the
simulation of assemblies of slender, one-
dimensional structures using Cosserat Rod theory}},
month = feb,
year = 2023,
publisher = {Zenodo},
version = {v0.3.0.post1},
doi = {10.5281/zenodo.7658872},
url = {https://doi.org/10.5281/zenodo.7658872}
}
- Gazzola, Dudte, McCormick, Mahadevan, Forward and inverse problems in the mechanics of soft filaments, Royal Society Open Science, 2018. doi: 10.1098/rsos.171628
- Zhang, Chan, Parthasarathy, Gazzola, Modeling and simulation of complex dynamic musculoskeletal architectures, Nature Communications, 2019. doi: 10.1038/s41467-019-12759-5
- Control-oriented modeling of bend propagation in an octopus arm (UIUC, 2021)
- A physics-informed, vision-based method to reconstruct all deformation modes in slender bodies (UIUC, 2021) (IEEE ICRA 2022) code
- Optimal control of a soft CyberOctopus arm (UIUC, 2021) (ACC 2021)
- Elastica: A compliant mechanics environment for soft robotic control (UIUC, 2021) (IEEE RA-L 2021)
- Controlling a CyberOctopus soft arm with muscle-like actuation (UIUC, 2020)
- Energy shaping control of a CyberOctopus soft arm (UIUC, 2020) (IEEE CDC 2020)
We have created several Jupyter notebooks and Python scripts to help users get started with PyElastica. The Jupyter notebooks are available on Binder, allowing you to try out some of the tutorials without having to install PyElastica.
We have also included an example script for visualizing PyElastica simulations using POVray. This script is located in the examples folder (examples/visualization).
If you would like to participate, please read our contribution guideline
PyElastica is developed by the Gazzola Lab at the University of Illinois at Urbana-Champaign.
Names arranged alphabetically
- Arman Tekinalp
- Chia-Hsien Shih (Cathy)
- Fan Kiat Chan
- Noel Naughton
- Seung Hyun Kim
- Tejaswin Parthasarathy (Teja)
- Yashraj Bhosale