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 …

Soft robot's natural dynamics calls for the development of tailored modeling techniques for
control. However, the high-dimensional configuration space of the geometrically exact …

Compliance and lower inertia are two essential features for safe physical human-robot
interaction (pHRI). Continuum robots exhibit great potential for such situations due to their …

To satisfy the actual needs of different tasks, hybrid-driven continuum robots need to
effectively cope with rapid internal dynamic changes, relatively fast motion speeds, and …

Agricultural tasks and environments range from harsh field conditions with semi-structured
produce or animals, through to post-processing tasks in food-processing environments …

Ongoing advancements in the design and fabrication of soft robots are creating new
challenges in modeling and control. This paper presents a dynamic Cosserat rod model for …

The manta ray, exemplifying an agile swimming mode identified as the median and paired
fin (MPF) mode, inspired the development of underwater robots. Robotic manta typically …

Soft robotic snakes made of compliant materials can continuously deform their bodies and,
therefore, mimic the biological snakes' flexible and agile locomotion gaits better than their …

Continuum and soft robots can positively impact diverse sectors, from biomedical
applications to marine and space exploration, thanks to their potential to adaptively interact …

In this study, an inhomogeneous Cosserat rod theory is introduced and compared to the
conventional homogeneous rod for modeling soft manipulators. The inhomogeneity is …