# ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

> Research article (2019 International Conference on Robotics and Automation (ICRA), 2019) · cited 222× · AI/ML

**Wikidata**: [openalex:W2968042644](https://www.wikidata.org/wiki/openalex:W2968042644)  
**Source**: https://4ort.xyz/entity/chainqueen-a-real-time-differentiable-physical-simulator-for-soft-robotics