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 …

Chasing biomimetic locomotion speeds: Creating untethered soft robots with shape memory
alloy actuators | Science Robotics news careers commentary Journals Science Science brought …

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 …

Cables are complex, high-dimensional, and dynamic objects. Standard approaches to
manipulate them often rely on conservative strategies that involve long series of very slow …

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 …

Tendons are a widely used actuation strategy for continuum robots that enable forces and
moments to be transmitted along the robot from base-mounted actuators. Most prior robots …

Soft robots are primarily composed of soft materials that can allow for mechanically robust
maneuvers that are not typically possible with conventional rigid robotic systems. However …

Shape memory alloys (SMAs) are popular as actuators for soft bioinspired robots because
they are naturally compliant, have high work density, and can be operated using …

We extend the incremental potential contact (IPC) model for contacting elastodynamics to
resolve systems composed of codimensional DOFs in arbitrary combination. This enables a …