Embodying Control in Soft Multistable Robots from Morphofunctional Co-design.

ABSTRACT: Soft robots are distinguished by their flexibility and adaptability, allowing them to perform nearly impossible tasks for rigid robots. However, controlling their behavior is challenging due to their nonlinear material response and infinite degrees of freedom. A potential solution to these challenges is to discretize their infinite-dimensional configuration space into a finite but sufficiently large number of functional modes with programmed dynamics. A strategy is presented for co-designing the desired tasks and morphology of pneumatically actuated soft robots with multiple encoded stable states and dynamic responses. This approach introduces a general method to capture the soft robots' response using an energy-based analytical model, the parameters of which are obtained using Recursive F

SUBMITTER: Osorio JC 

PROVIDER: S-EPMC12407363 | biostudies-literature | 2025 Aug

REPOSITORIES: biostudies-literature