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 …

Muscular hydrostats are organs composed entirely of packed arrays of incompressible
muscles and lacking any skeletal support. Found in both vertebrates and invertebrates, they …

Soft robots are notoriously hard to control. This is partly due to the scarcity of models and
simulators able to capture their complex continuum mechanics, resulting in a lack of control …

Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees
of freedom and perform complex manipulation tasks. As a consequence, these systems …

Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely,
endowing them with exceptional dexterity and reconfigurability. Key to their unmatched …

This paper proposes a model-based control design approach for a broad class of soft robots,
having their elastic field dominating gravity in the unactuated coordinates. To this end, we …

The inverse kinematic control of soft robots appears as an open challenge that has been the
subject of a number of letters presented in the last decade. Some solutions have been …

Controlling the configuration of a soft continuum robot arm is challenging due to the hyper-
redundant kinematics of such robots. We propose a new model-based, inverse dynamic …

Motivated by a possible convergence of terrestrial limbless locomotion strategies ultimately
determined by interfacial effects, we show how both 3D gait alterations and locomotory …

In this article, a biophysically realistic model of a soft octopus arm with internal musculature
is presented. The modeling is motivated by experimental observations of sensorimotor …