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MuJoCo-based MPC for Soft Robotic Arms

A rigid-link MuJoCo surrogate enables real-time, sampling-based model-predictive control of a pneumatic soft arm, driving accurate tracking of dynamically moving targets.

MuJoCo MJPC · DeepMind Real-time MPC Pneumatic soft arm

1Demo

Real-time predictive control tracking a moving target.

▶ Watch on YouTube MuJoCo MPC (DeepMind)

2Overview

This project uses MuJoCo rigid links to simulate a pneumatic soft arm, and then develops a real-time predictive controller based on the MuJoCo MPC framework from Google DeepMind.

The controller continuously predicts the arm's future motion and optimizes the actuation inputs to reduce the tracking error in real time, allowing the soft arm to smoothly follow a dynamically moving target.

TECHNICAL SKILLS: MuJoCo