[robotics-worldwide] [software] Release of Open-source Cable-robot Analysis and Simulation Platform for Research (CASPR)

darwinlau at mae.cuhk.edu.hk darwinlau at mae.cuhk.edu.hk
Fri Aug 12 06:18:04 PDT 2016

Dear Colleagues,

We are pleased to announce the release of the CASPR software (Cable-robot
Analysis and Simulation Platform for Research), a software written in
MATLAB that is a comprehensive modelling and analysis software
specifically for cable/muscle/tendon-driven robots. CASPR can be
downloaded from:


This open-source software is aimed at cable-robot research groups to
conveniently share their work and results with other groups. The key
features of CASPR include:

* The ability to perform a comprehensive range of cable robot analysis,
including inverse/forward kinematics, dynamics, control, workspace
analysis and cable arrangement design optimisation, with more being added
in the future.
* The ability to easily add your own algorithms to CASPR in order to
compare with the existing ones, and then share with the research community
since it is open-source.
* A library of existing well-known cable robots and the ability to easily
add your own robot through XML file format.
* Supports the analysis on different classes of cable robots of arbitrary
structure, including single link robots, multilink robots, active and
passive cable actuated robots and hybrid cable robots.
* Supports the analysis on various types of cable models, such as linear
springs, variable stiffness actuators, muscles etc. and the ability to add
new cable models.

Developed in Object-Oriented-Programming (OOP), the software architecture
makes it easy to use and easy to extend by adding your robots and
algorithms inside. The key advantages of working using CASPR are:

* Open-source platform allowing the community to not only use the works of
others, but to also share their algorithms and robot models.
* Allows developed algorithms to be tested on a wide range of different
cable robot models.
* Allows developed algorithms to be bench-marked and directly compared
with others on the same computer.
* Ultimately, no need to reinvent-the-wheel in modelling and analysis to
improve the productivity of cable robot research.

To date, CASPR already contains 14 cable robot models, 4 types of cable
models and 26 different analysis algorithms, with more being gradually
added. CASPR can be downloaded at


Please refer to this webpage for more information, how to get started, and
tutorials/exercises in using CASPR. For more information, please feel free
to contact Dr. Darwin Lau at darwinlau at mae.cuhk.edu.hk, and you could also
find us at IROS 2016 in October to chat about CASPR and cable robots.

Darwin Lau, PhD
Assistant Professor, Dept. of Mechanical and Automation Engineering
Faculty of Engineering
The Chinese University of Hong Kong
Shatin, New Territories, Hong Kong
Tel: 39438523, Fax: 26036002
Email: darwinlau at mae.cuhk.edu.hk

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