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

Rogelio Ortigosa-Martínez ^[2] ; Jesús Martínez-Frutos ^[3] ; Carlos Mora-Corral ^[1] ; Pablo Pedregal ^[4] ; Francisco Periago ^[2]
1. [1] Universidad Autónoma de Madrid
  
  Universidad Autónoma de Madrid
  
  Madrid, España
2. [2] Department of Applied Mathematics and Statistics, Technical University of Cartagena, Spain
3. [3] Multiphysics Simulation and Optimization Group, Technical University of Cartagena, Spain
4. [4] Department of Mathematics, INEI, University of Castilla-La Mancha, Spain
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Localización: SeMA Journal: Boletín de la Sociedad Española de Matemática Aplicada, ISSN-e 2254-3902, ISSN 2254-3902, Vol. 81, Nº. Extra 1, 2024, págs. 147-164
Idioma: inglés
DOI: 10.1007/s40324-023-00334-4
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Resumen
- 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.