Herein, recent advances, current limitations, and open challenges in the design, modeling,
and control of continuum robots are discussed. Thanks to their lean bodies, these robots …

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 …

Soft robots have recently attracted increased attention because their characteristics of low‐
cost fabrication, durability, and deformability make them uniquely suited for applications in …

The robotics community has seen an exponential growth in the level of complexity of the
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …

The dynamic equations of many continuum and soft robot designs can be succinctly
formulated as a set of partial differential equations (PDEs) based on classical Cosserat rod …

Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic
motions as well as compliant and safe interaction with an unstructured environment …

The compliant structure and influence of external forces usually result in complex
deformation of soft continuum robots, which makes the accurate modeling and control of the …

This paper presents a literature survey documenting the evolution of continuum robots over
the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect …

The physical characteristics of animals' bodies are substantially different from those of
classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …

Despite the emergence of many soft-bodied robotic systems, model-based feedback control
for soft robots has remained an open challenge. This is largely due to the intrinsic difficulties …