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Welcome to the TMTDyn wiki, where a berief documentation is provided for the TMTDyn Matlab software package. This documentation has the following structure:

• Introduction
• Text-based user-interface
• Package structure and modules - see code
• Algorithms and Pseudocodes
• Examples - see code
• Example 1- STIFF-FLOP continuum appendage - see code
• Example 2- Fabric dynamics worn by a rigid-link pendulum - see code

Please cite our relevant papers if you decided to use this package or methods presented in it:

• S. Sadati et al., “Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators,” presented at the Conference: Robotics: Science and Systems (RSS 2019), Freiburg, Germany, 2019.
• S.M.H. Sadati, S. Naghibi, and M. Naraghi, “An Automatic Algorithm to Derive Linear Vector Form of Lagrangian Equation of Motion with Collision and Constraint,” Procedia Computer Science, vol. 76, pp. 217–222, 2015.
• S.M.H. Sadati, S. E. Naghibi, A. Shiva, et al., “AutoTMTDyn: A Matlab Software Package to Drive TMT Lagrange Dynamics of Series Rigid- and Continuum-link Mechanisms,” IROS 2018 Workshop on Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots, 2018.