SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments. - Moritz A. Graule; Clark B. Teeple; Thomas P. McCarthy; Grace R. Kim; Randall C. St. Louis; Robert J. Wood (IROS, 2021)

SoMoGym: A Toolkit for Developing and Evaluating Controllers and Reinforcement Learning Algorithms for Soft Robots. - Moritz A. Graule; Thomas P. McCarthy; Clark B. Teeple; Justin Werfel; Robert J. Wood (IEEE Robotics Autom. Lett., 2022)