Survey Reference Paper: Theoretical Modeling and Experimental Analysis of a Pressure-Operated Soft Robotic Snake
A novel problem problem for soft robotics is theoretical modeling of motion, which is much more difficult compared to rigid body robotics. A soft model snake-type robot is simulated and the theoretical model results are validated against experimental data.
M. Luo, M. Agheli, and C. D. Onal, “Theoretical Modeling and Experimental Analysis of a Pressure-Operated Soft Robotic Snake,” Soft Robotics, vol. 1, no. 2, pp. 136–146, Jun. 2014, doi: 10.1089/soro.2013.0011.
Course Website Bibliography Paper: Soft Actuators for Small-Scale Robotics
Nanometer to centimeter scale soft robotics often require unique actuation systems beyond the typical electrically responsive systems. Especially at small scales, other actuation methods such as heat, pressure, light, and magnetic fields show high deformation capability and yield strength.
L. Hines, K. Petersen, G. Z. Lum, and M. Sitti, “Soft Actuators for Small-Scale Robotics,” Advanced Materials, vol. 29, no. 13, p. 1603483, 2017, doi: 10.1002/adma.201603483.
IEEE Paper: Propulsive Performance of an Undulating Fin Soft Robot
This paper evaluates the performance of a soft robot mimicking the ghost knife fish, which uses an undulating fin located under its body to maneuver. Performance is evaluated based on the straight line speed of the robot, and fin width and undulation frequency are varied.
J. E. M. Teoh, R. C. Mysa, T. V. Truong, and P. V. y Alvarado, “Propulsive performance of an undulating fin soft robot,” in Global Oceans 2020: Singapore – U.S. Gulf Coast, Oct. 2020, pp. 1–5. doi: 10.1109/IEEECONF38699.2020.9389238.