{"id":"https://openalex.org/W4417529430","doi":"https://doi.org/10.48550/arxiv.2512.15994","title":"SORS: A Modular, High-Fidelity Simulator for Soft Robots","display_name":"SORS: A Modular, High-Fidelity Simulator for Soft Robots","publication_year":2025,"publication_date":"2025-12-17","ids":{"openalex":"https://openalex.org/W4417529430","doi":"https://doi.org/10.48550/arxiv.2512.15994"},"language":null,"primary_location":{"id":"pmh:oai:arXiv.org:2512.15994","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.15994","pdf_url":"https://arxiv.org/pdf/2512.15994","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2512.15994","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106007271","display_name":"Manuel Mekkattu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Mekkattu, Manuel","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061307593","display_name":"Mike Y. Michelis","orcid":"https://orcid.org/0000-0002-5291-0255"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michelis, Mike Y.","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5050915314","display_name":"Robert K. Katzschmann","orcid":"https://orcid.org/0000-0001-7143-7259"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Katzschmann, Robert K.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5106007271"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9735999703407288,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9735999703407288,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.003000000026077032,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.0020000000949949026,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6517000198364258},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6334999799728394},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5803999900817871},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5210999846458435},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4814000129699707},{"id":"https://openalex.org/keywords/multiphysics","display_name":"Multiphysics","score":0.46160000562667847},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.4560999870300293},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42250001430511475},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.39149999618530273}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6517000198364258},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6334999799728394},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5803999900817871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5479999780654907},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5210999846458435},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5049999952316284},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4999000132083893},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4814000129699707},{"id":"https://openalex.org/C46435376","wikidata":"https://www.wikidata.org/wiki/Q1829750","display_name":"Multiphysics","level":3,"score":0.46160000562667847},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.4560999870300293},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42250001430511475},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.39149999618530273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37709999084472656},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.3495999872684479},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3181000053882599},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3001999855041504},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.2928999960422516},{"id":"https://openalex.org/C2780991453","wikidata":"https://www.wikidata.org/wiki/Q3408177","display_name":"Virtual prototyping","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.2718999981880188},{"id":"https://openalex.org/C167343916","wikidata":"https://www.wikidata.org/wiki/Q6888384","display_name":"Modeling and simulation","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2512.15994","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.15994","pdf_url":"https://arxiv.org/pdf/2512.15994","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2512.15994","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.15994","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2512.15994","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2512.15994","pdf_url":"https://arxiv.org/pdf/2512.15994","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"deployment":[1],"of":[2,21,107,136,147,155,173,179,227],"complex":[3,197],"soft":[4,89,157,181,222,234],"robots":[5,31],"in":[6,66,209,232],"multiphysics":[7],"environments":[8],"requires":[9],"advanced":[10],"simulation":[11],"frameworks":[12],"that":[13,187],"not":[14],"only":[15],"capture":[16,191],"interactions":[17,162],"between":[18],"different":[19],"types":[20],"material,":[22],"but":[23],"also":[24],"translate":[25],"accurately":[26],"to":[27,37,84],"real-world":[28,148],"performance.":[29],"Soft":[30],"pose":[32],"unique":[33],"modeling":[34,63,135],"challenges":[35],"due":[36],"their":[38],"large":[39],"nonlinear":[40,123],"deformations,":[41],"material":[42,109,194],"incompressibility,":[43],"and":[44,52,69,110,133,160,196,230],"contact":[45,117,137,161],"interactions,":[46],"which":[47,150],"complicate":[48],"both":[49,192],"numerical":[50],"stability":[51],"physical":[53,202],"accuracy.":[54],"Despite":[55],"recent":[56],"progress,":[57],"robotic":[58,158,182,235],"simulators":[59],"often":[60],"struggle":[61],"with":[62,200],"such":[64],"phenomena":[65],"a":[67,79,121,144,156,180,216],"scalable":[68],"application-relevant":[70],"manner.":[71],"We":[72,139],"present":[73],"SORS":[74],"(Soft":[75],"Over":[76],"Rigid":[77],"Simulator),":[78],"versatile,":[80],"high-fidelity":[81],"simulator":[82,142,189],"designed":[83],"handle":[85],"these":[86,210],"complexities":[87],"for":[88,131,176,219],"robot":[90],"applications.":[91],"Our":[92],"energy-based":[93],"framework,":[94],"built":[95],"on":[96,126],"the":[97,105,164,171,206,225,233],"finite":[98],"element":[99],"method,":[100],"allows":[101],"modular":[102],"extensions,":[103],"enabling":[104],"inclusion":[106],"custom-designed":[108],"actuation":[111,198],"models.":[112],"To":[113],"ensure":[114],"physically":[115],"consistent":[116],"handling,":[118],"we":[119,169],"integrate":[120],"constrained":[122],"optimization":[124,178],"based":[125],"sequential":[127],"quadratic":[128],"programming,":[129],"allowing":[130],"stable":[132],"accurate":[134],"phenomena.":[138],"validate":[140],"our":[141,174,188,213],"through":[143],"diverse":[145],"set":[146],"experiments,":[149],"include":[151],"cantilever":[152],"deflection,":[153],"pressure-actuation":[154],"arm,":[159],"from":[163],"PokeFlex":[165],"dataset.":[166],"In":[167],"addition,":[168],"showcase":[170],"potential":[172],"framework":[175],"control":[177],"leg.":[183],"These":[184],"tests":[185],"confirm":[186],"can":[190],"fundamental":[193],"behavior":[195],"dynamics":[199],"high":[201],"fidelity.":[203],"By":[204],"bridging":[205],"sim-to-real":[207],"gap":[208,226],"challenging":[211],"domains,":[212],"approach":[214],"provides":[215],"validated":[217],"tool":[218],"prototyping":[220],"next-generation":[221],"robots,":[223],"filling":[224],"extensibility,":[228],"fidelity,":[229],"usability":[231],"ecosystem.":[236]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-12-21T00:00:00"}
