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Volume 8 Issue 9
Sep.  2021

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2021  >  8(9): 1500-1522
F. Xu, H. S. Wang, "Soft Robotics: Morphology and Morphology-inspired Motion Strategy," IEEE/CAA J. Autom. Sinica, vol. 8, no. 9, pp. 1500-1522, Sep. 2021. doi: 10.1109/JAS.2021.1004105
Citation: F. Xu, H. S. Wang, "Soft Robotics: Morphology and Morphology-inspired Motion Strategy," IEEE/CAA J. Autom. Sinica, vol. 8, no. 9, pp. 1500-1522, Sep. 2021. doi: 10.1109/JAS.2021.1004105
shu

Soft Robotics: Morphology and Morphology-inspired Motion Strategy

doi: 10.1109/JAS.2021.1004105
  • 1.

    Department of Automation, Institute of Medical Robotics, Key Laboratory of System Control and Information Processing of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China

  • 2.

    Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China

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    Abstract
  • Robotics has aroused huge attention since the 1950s. Irrespective of the uniqueness that industrial applications exhibit, conventional rigid robots have displayed noticeable limitations, particularly in safe cooperation as well as with environmental adaption. Accordingly, scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments. For decades, they have been committed to exploring sub-fields of soft robotics (e.g., cutting-edge techniques in design and fabrication, accurate modeling, as well as advanced control algorithms). Although scientists have made many different efforts, they share the common goal of enhancing applicability. The presented paper aims to brief the progress of soft robotic research for readers interested in this field, and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies. This paper, instead of enumerating existing modeling or control methods of a certain soft robot prototype, interprets for the relationship between morphology and morphology-dependent motion strategy, attempts to delve into the common issues in a particular class of soft robots, and elucidates a generic solution to enhance their performance.

     

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    • This paper aims to brief the progress of soft robotic research for readers interested in this field.
    • Clarifying how a control algorithm can be yielded dependent on morphology and working environment.
    • Interpreting the relationship between morphology and morphology-dependent motion strategy.
    • Delving into the common issues in different soft robots and elucidating generic solutions.

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