The ocean environment has enormous uncertainty due to the influence of complex waves
and undercurrents. The human beings are limited in their abilities to detect and utilize …

Fishes have learned how to achieve outstanding swimming performance through the
evolution of hundreds of millions of years, which can provide bio-inspiration for robotic fish …

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 …

In this article, we propose a new dynamic model of Cosserat beams in view of its application
to continuum and soft robotics manipulation and locomotion. In contrast to usual …

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 explores the relationship between optimal control and Cosserat beam theory
from the perspective of solving the forward and inverse dynamics (and statics as a subcase) …

The ocean and human activities related to the sea are under increasing pressure due to
climate change, widespread pollution, and growth of the offshore energy sector. Data, in …

The best known analytical model of swimming was originally developed by Lighthill and is
known as the large amplitude elongated body theory (LAEBT). Recently, this theory has …

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 …

Recently soft robotics has rapidly become a novel and promising area of research with many
designs and applications due to their flexible and compliant structure. However, it is more …