Lior Salem

2 accepted papers

2026

Embodied Stability in a Minimally-Actuated Soft Robot for Autonomous Exploration

Lior Salem, Adam Vichik, Amir Gat, Yizhar Or

ICRA 2026poster

Soft robots offer an opportunity to embed intelligence directly into morphology, potentially reducing the need for continuous feedback regulation. We present an autonomous, minimally actuated multi-stable soft robot for exploration in confined and cluttered environments. The robot is composed of a s…

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2020

Understanding Inchworm Crawling for Soft-Robotics

Benny Gamus, Lior Salem, Amir D. Gat, Yizhar Or

RA-L 2020

Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness we study the inchworm crawling of our soft robot with two b

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