Soft robots' flexibility and compliance give them the potential to outperform traditional rigid-
bodied robots while performing multiple tasks in unexpectedly changing environments and …

From a functional standpoint, classic robots are not at all similar to biological systems. If
compared with rigid robots, animals' bodies look overly redundant, imprecise, and weak …

In this article, the control problem of one segment pneumatically actuated soft robotic arm is
investigated in detail. To date, extensive prior work has been done in soft robotics …

With the rise in new soft robotic applications, the control requirements increase. Therefore,
precise control methods for soft robots are required. However, the dynamic control of soft …

In this paper, we present Sorotoki, an open-source toolkit in MATLAB that offers a
comprehensive suite of tools for the design, modeling, and control of soft robots. The …

A soft continuum manipulator with tunable stiffness can not only take advantage of high
compliance for safe adaptation in unknown environments, but also circumvent the …

Soft robots are made of compliant materials and perform tasks that are challenging for rigid
robots. However, their continuum nature makes it difficult to develop model-based control …

Controlling soft continuum manipulators is a challenging task due to the structural
compliance of these systems which results in underactuation. While a variety of control …

This letter investigates the model-based control of a class of soft continuum manipulators
with hydraulic actuation that bend on a plane due to pressurization of one or more internal …

Human-centric problem domains will require robots with an unprecedented mix of traits-
combining the inherent safety and robustness of soft materials with the strength and …