Welcome to Jelly documentation!

Jelly is an expandable MATLAB and Simulink library to control and simulate modular mechanical systems. The library is based on the inverse dynamics algorithms discussed in [1]. All the methods are designed for C/C++ code generation, both in MATLAB and Simulink.

Note

This project is under active development.

Contents

• Basic usage
  • Installation
  • Initialization
  • Introduction to Jelly

Check out the Basic usage section for a short introduction on how to use the library, including how to install it.

API

• API
  • BodyTree
  • Body
    • GVSBody
      • PCC2D
      • PCC2DElongation
      • PCC3D
      • PAC2D
      • PAC3D
      • PGC3D
    • VGVSBody
      • VPCC2D
    • RigidBody
  • Joint
    • FixedJoint
    • RotationalJoint

[1]

Pietro Pustina, Cosimo Della Santina, and Alessandro De Luca. Unified inverse dynamics of modular serial mechanical systems with application to soft robotics. IEEE Trans. on Robotics, under review.

[2]

Frédéric Boyer, Vincent Lebastard, Fabien Candelier, and Federico Renda. Dynamics of continuum and soft robots: A strain parameterization based approach. IEEE Trans. on Robotics, 37(3):847–863, 2020.