Interest in soft robots is motivated by their enormous potential in applications with close contact to humans or unpredictable situations for which their soft structure and versatility is beneficial. New mathematical models and control strategies are required to optimize the geometry and performance of the soft components of these robots. The authors use a nonlinear rod model to describe a pneumatically actuated quadruped soft robot and to study the influences of different parameters on its performance. Although the model does not accommodate contact situations perfectly, it is suitable to study general interrelations. These resulting studies serve to enhance the development of soft robots. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
Proceedings in Applied Mathematics & Mechanics – Wiley
Published: Jan 1, 2017
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