With the rise of soft robotics technology and applications, there have been increasing
interests in the development of controllers appropriate for their particular design. Being …

Soft robotics is a recent and rapidly growing field of research that encompasses emerging
advances in functional materials, fabrication, modelling, and performance control with …

This paper presents a literature survey documenting the evolution of continuum robots over
the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect …

Soft slender structures are ubiquitous in natural and artificial systems, in active and passive
settings and across scales, from polymers and flagella, to snakes and space tethers. In this …

Cosserat rod theory proved efficient modeling performances in robotics, especially in the
context of continuum robots, in the past decade. The implementation of such theory is far …

This article provides a tutorial on the dynamic modeling of continuum robots. Continuum
robots (CRs) have gained popularity in recent years due to their flexible backbone structure …

Soft robots undergo large nonlinear spatial deformations due to both inherent actuation and
external loading. The physics underlying these deformations is complex, and often requires …

Recently, robotic manipulators have been playing an increasingly critical part in scientific
research and industrial applications. However, modeling of robotic manipulators is …

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 …

To address the challenges with real-time accurate modeling of multisegment continuum
manipulators in the presence of significant external and body loads, we introduce a novel …