A smoothed particle hydrodynamics framework for fluid simulation in robotics

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Emmanouil Angelidis, Jonathan Arreguit, Jan Bender, Patrick Berggold, Ziyuan Liu, Alois Knoll, Alessandro Crespi, Auke Jan Ijspeert

Published: 01 Jan 2025, Last Modified: 14 May 2025Robotics Auton. Syst. 2025EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•We propose particle-based fluid simulation in interaction with robots.•We show simulations of swimming robots controlled by central pattern generators.•We compare the simulations with real experimental data of robot swimming.•Suggest ways to further improve the simulation and close the sim2real gap.