Mathematical modeling, analysis and control in soft robotics: a survey

  1. Rogelio Ortigosa-Martínez 1
  2. Jesús Martínez-Frutos 2
  3. Carlos Mora-Corral 3
  4. Pablo Pedregal 4
  5. Francisco Periago 1
  1. 1 Department of Applied Mathematics and Statistics, Technical University of Cartagena, Spain
  2. 2 Multiphysics Simulation and Optimization Group, Technical University of Cartagena, Spain
  3. 3 Departamento de Matemáticas, Universidad Autónoma de Madrid, Spain
  4. 4 Department of Mathematics, INEI, University of Castilla-La Mancha, Spain
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Journal:
SeMA Journal: Boletín de la Sociedad Española de Matemática Aplicada

ISSN: 2281-7875

Year of publication: 2024

Volume: 81

Issue: 1

Pages: 147-164

Type: Article

DOI: 10.1007/S40324-023-00334-4 DIALNET GOOGLE SCHOLAR

More publications in: SeMA Journal: Boletín de la Sociedad Española de Matemática Aplicada

Abstract

This paper reviews some recent advances in mathematical modeling, analysis and control, both from the theoretical and numerical viewpoints, in the emergent field of soft robotics. The presentation is not focused on specific prototypes of soft robots, but in a more general description of soft smart materials. The goal is to provide a unified and rigorous mathematical approach to open-loop control strategies for soft materials that hopefully might lay the seeds for future research in this field.

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