CAble-Robot Design and Simulation workflow


what is it?

CARDSFlow makes it easy to design cable-robots in CAD, export them and then simulate them in a robot simulator.

We use Autodesk Fusion 360 as the CAD program, Gazebo Sim as the robot simulator and CASPR for the cable analysis and control.

CARDSFlow is developed as a collaboration between the lab of Prof. Darwin Lau at Chinese University of Hong Kong and the Roboy Team. It’s is released open-source under the permissive BSD 3-clause license, in the hope to foster further research in cable-robots.


supported by cardsflow


to get started

cite as:

title={CARDSFlow: An End-to-End Open-Source Physics Environment for the Design, Simulation and Control of Musculoskeletal Robots},
journal={Humanoids 2018},
author={Trendel, Simon and Chan, Yin Pok and Kharchenko, Alona and Hostettler, Rafael and Knoll, Alois and Lau, Darwin},
year={2018}, month={Nov}}


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