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• W3204719635 abstract "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. Nevertheless, animals can still perform a vast range of activities with unmatched effectiveness. Many studies in biomechanics have pointed to the elastic and compliant nature of the musculoskeletal system as a fundamental ingredient explaining this gap. Thus, to reach performance comparable to nature, elastic elements have been introduced in rigid-bodied robots, leading to articulated soft robotics <xref ref-type=bibr rid=ref1 xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>[1]</xref> (see “Summary”). In continuum soft robotics, this concept is brought to an extreme. Here, softness is not concentrated at the joint level but instead distributed across the whole structure. As a result, soft robots (henceforth, omitting the adjective <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>continuum</i> ) are entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and the soft appendices of vertebrate animals (for example, an elephant’s trunk and the tail of a monkey). Several soft robotic hardware platforms have been proposed with increasingly higher reliability and functionalities. In this process, considerable attention has been devoted to the technological side of the problem, leading to a large assortment of hardware solutions. In turn, this abundance opened up the challenge of developing effective control strategies that can manage the soft body and exploit its embodied intelligence." @default.
• W3204719635 created "2021-10-11" @default.
• W3204719635 creator A5050114678 @default.
• W3204719635 creator A5050239145 @default.
• W3204719635 creator A5066830185 @default.
• W3204719635 date "2023-06-01" @default.
• W3204719635 modified "2023-10-11" @default.
• W3204719635 title "Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges" @default.
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