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Demands for pneumatic-driven soft robots are constantly rising for variousapplications. However, they are often designed manually due to the lack ofsystematic methods. Moreover, design-dependent characteristics of pneumaticactuation pose distinctive challenges. This paper provides a compact MATLABcode, named SoRoTop, and its various extensions for designing pneumatic-drivensoft robots using topology optimization. The code uses the method of movingasymptotes as the optimizer and builds upon the approach initially presented inKumar et al.(Struct Multidiscip Optim 61 (4): 1637-1655, 2020). The pneumaticload is modeled using Darcy's law with a conceptualized drainage term.Consistent nodal loads are determined from the resultant pressure field usingthe conventional finite element approach. The robust formulation is employed,i.e., the eroded and blueprint design descriptions are used. A min-maxoptimization problem is formulated using the output displacements of the erodedand blueprint designs. A volume constraint is imposed on the blueprint design,while the eroded design is used to apply a conceptualized strain energyconstraint. The latter constraint aids in attaining optimized designs that canendure the applied load without compromising their performance. Sensitivitiesrequired for optimization are computed using the adjoint-variable method. Thecode is explained in detail, and various extensions are also presented. It isstructured into pre-optimization, MMA optimization, and post-optimizationoperations, each of which is comprehensively detailed. The paper alsoillustrates the impact of load sensitivities on the optimized designs. SoRoTopis provided in Appendix A and is available with extensions in the supplementarymaterial and publicly at \url{https://github.com/PrabhatIn/SoRoTop}.

SoRoTop: a hitchhiker's guide to topology optimization MATLAB code for design-dependent pneumatic-driven soft robots