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 …

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 …

Dynamic control of soft robotic manipulators is an open problem yet to be well explored and
analyzed. Most of the current applications of soft robotic manipulators utilize static or quasi …

Nowadays, the most adopted model for the design and control of soft robots is the piecewise
constant curvature model, with its consolidated benefits and drawbacks. In this work, an …

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 …

In this article, we propose a new dynamic model of Cosserat beams in view of its application
to continuum and soft robotics manipulation and locomotion. In contrast to usual …

We propose a novel variable-strain parametrization for soft manipulators, which discretizes
the continuous Cosserat rod model onto a finite set of strain basis functions. This approach …

Continuum arms are bio-inspired devices that exhibit continuous, smooth bending and
generate motion through structural deformation. Rapidly-exploring random trees (RRT) is a …