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 …

Mathematical modeling of soft robots is complicated by the description of the continuously
deformable three-dimensional shape that they assume when subjected to external loads. In …

Energy saving in robotic and mechatronic systems is becoming an evermore important topic
in both industry and academia. One strategy to reduce the energy consumption, especially …

A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and
controlling hybrid rigid–continuum robots. Such models should be fast, as simple as …

The motion complexity and use of exotic materials in soft robotics call for accurate and
computationally efficient models intended for control. To reduce the gap between material …

Robots will become ubiquitously useful only when they require just a few attempts to teach
themselves to perform different tasks, even with complex bodies and in dynamic …

Spring-based actuators in legged locomotion provide energy-efficiency and improved
performance, but increase the difficulty of controller design. While previous work has …

Soft and hyperelastic materials possess properties of resilience and flexibility, characterizing
a class of soft-continuum manipulators (SCMs). The latter describes a robot structure with an …

Adding elastic elements to the mechanical structure should enable robots to perform efficient
oscillatory tasks. Still, even characterizing natural oscillations in nonlinear systems is a …

Embedding elastic elements into legged robots through mechanical design enables highly
efficient oscillating patterns that resemble natural gaits. However, current trajectory planning …