3 accepted papers
In this paper, we propose a design of an underwater soft snake-like robot prototype that uses two actuators made of 3D-printed soft materials to build the robot body. Control signals with appropriate displacement phases and different voltages are used to control the water pump to drive the soft actu
In order to achieve a significant reduction in state estimation error and improved convergence speed, ensuring real-time responsiveness and computational efficiency, this article proposes a joint approach that combines dynamic modeling and observers to achieve accurate nonlinear state estimation of
For soft crawling robots moving in two-dimensional space, accurate dynamics models are the basis for control and navigation. However, it is still challenging for nonlinear and low-bandwidth soft robot systems. This article details two dynamics models that can be applied to predict the motion of a so