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

LAU Tat Ming b138564 at mailserv.cuhk.edu.hk
Wed Aug 10 17:23:16 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
* 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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