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

• Rogelio Ortigosa-Martínez ^[1] ; Jesús Martínez-Frutos ^[1] ; Carlos Mora-Corral ^[2] ; Pablo Pedregal ^[3] ; Francisco Periago ^[1]
  1. [1] Universidad Politécnica de Cartagena

     Universidad Politécnica de Cartagena

     Cartagena, España

     
  2. [2] Universidad Autónoma de Madrid

     Universidad Autónoma de Madrid

     Madrid, España

     
  3. [3] Universidad de Castilla-La Mancha

     Universidad de Castilla-La Mancha

     Ciudad Real, España

     

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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
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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.