Soft Robots Modeling: A Structured Overview

The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scient...

Celý popis

Uloženo v:

Podrobná bibliografie
Vydáno v:	IEEE transactions on robotics Ročník 39; číslo 3; s. 1728 - 1748
Hlavní autoři:	Armanini, Costanza, Boyer, Frederic, Mathew, Anup Teejo, Duriez, Christian, Renda, Federico
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.06.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	and learning for soft robots Computational mechanics Computer graphics Computer Science Continuum mechanics control Dynamics flexible robots kinematics Mathematical models modeling Numerical methods Robot kinematics Robotics Robots Soft robotics Solid modeling Strain Stress Tensors Robotics (cs.RO) FOS: Computer and information sciences
ISSN:	1552-3098, 1941-0468
On-line přístup:	Získat plný text
Tagy:	Přidat tag Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!

Abstract	The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics, and computer graphics. These theoretical and computational foundations are often taken for granted and this leads to an intricate literature that, consequently, has rarely been the subject of a complete review. For the first time, we present here a structured overview of all the approaches proposed so far to model soft robots. The chosen classification, which is based on their theoretical and numerical grounds, allows us to provide a critical analysis about their uses and applicability. This will enable robotics researchers to learn the basics of these modeling techniques and their associated numerical methods, but also to have a critical perspective on their uses.
AbstractList	The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions have been presented to overcome the difficulties related to the modeling of soft robots, often leveraging on other scientific disciplines, such as continuum mechanics, computational mechanics and computer graphics. These theoretical and computational foundations are often taken for granted and this leads to an intricate literature that, consequently, has rarely been the subject of a complete review. For the first time, we present here a structured overview of all the approaches proposed so far to model soft robots. The chosen classification, which is based on their theoretical and numerical grounds, allows us to provide a critical analysis about their uses and applicability. This will enable robotics researchers to learn the basics of these modeling techniques and their associated numerical methods, but also to have a critical perspective on their uses.
Author	Renda, Federico Armanini, Costanza Boyer, Frederic Mathew, Anup Teejo Duriez, Christian
Author_xml	– sequence: 1 givenname: Costanza orcidid: 0000-0002-8055-6257 surname: Armanini fullname: Armanini, Costanza email: costanza.armanini@ku.ac.ae organization: Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE – sequence: 2 givenname: Frederic surname: Boyer fullname: Boyer, Frederic email: frederic.boyer@imt-atlantique.fr organization: LS2N Laboratory, Institut Mines Telecom Atlantique, Nantes, France – sequence: 3 givenname: Anup Teejo orcidid: 0000-0003-4022-7501 surname: Mathew fullname: Mathew, Anup Teejo email: anup.mathew@ku.ac.ae organization: Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE – sequence: 4 givenname: Christian orcidid: 0000-0001-6030-7117 surname: Duriez fullname: Duriez, Christian email: christian.duriez@inria.fr organization: Inria, CNRS, Centrale Lille, Team DEFROST, University Lille, Lille, France – sequence: 5 givenname: Federico orcidid: 0000-0002-1833-9809 surname: Renda fullname: Renda, Federico email: federico.renda@ku.ac.ae organization: Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE
BackLink	https://hal.science/hal-04334544$$DView record in HAL
BookMark	eNp9kE1Lw0AQhhepYFu9e_AQ8CSSOvuRsOutFLVCpdDW87LZD02J2brZVPz3pkRBPHiaYeZ5h-EZoUHta4vQOYYJxiBuNqvlhAAhE0oopjkcoSEWDKfAcj7o-iwjKQXBT9CoabYAhAmgQ3S99i4mK1_42CRP3tiqrF9uk2myjqHVsQ3WJMu9DfvSfpyiY6eqxp591zF6vr_bzObpYvnwOJsuUk1zHlMulOGaGKpBOOeMBW4cGMMLrZjAFLgFYy3n3Ypplhcic4QrpikuiLY5HaOr_u6rquQulG8qfEqvSjmfLuRhBoxSljG2xx172bO74N9b20S59W2ou_ck4Z0JQSkhHZX3lA6-aYJ1UpdRxdLXMaiykhjkQaLsJMqDRPktsQvCn-DPP_9ELvpIaa39hQNwkQH9AowxfTU
CODEN	ITREAE
CitedBy_id	crossref_primary_10_3390_drones8060269 crossref_primary_10_1089_soro_2024_0141 crossref_primary_10_1109_ACCESS_2023_3266282 crossref_primary_10_1088_1361_665X_adadcd crossref_primary_10_3390_app15148093 crossref_primary_10_1145_3730848 crossref_primary_10_1002_aisy_202500444 crossref_primary_10_1109_LRA_2023_3320946 crossref_primary_10_1109_ACCESS_2024_3357351 crossref_primary_10_3390_biomimetics8020147 crossref_primary_10_1007_s11071_024_09585_w crossref_primary_10_1089_soro_2024_0015 crossref_primary_10_1109_LRA_2025_3577421 crossref_primary_10_3390_biomimetics8080611 crossref_primary_10_1109_TRO_2024_3463509 crossref_primary_10_1017_S026357472400016X crossref_primary_10_1088_1757_899X_1321_1_012009 crossref_primary_10_1109_TRO_2025_3552353 crossref_primary_10_1109_LRA_2023_3339063 crossref_primary_10_3390_mca28030068 crossref_primary_10_3390_robotics12060164 crossref_primary_10_1016_j_ijmecsci_2024_109808 crossref_primary_10_1109_LRA_2024_3511406 crossref_primary_10_1002_aisy_202300899 crossref_primary_10_1109_LRA_2024_3389348 crossref_primary_10_3390_sym17040609 crossref_primary_10_1142_S1758825125500139 crossref_primary_10_1016_j_rcim_2024_102811 crossref_primary_10_1109_LRA_2024_3523218 crossref_primary_10_1007_s43154_023_00105_z crossref_primary_10_1109_TMECH_2024_3392306 crossref_primary_10_1007_s12293_024_00433_3 crossref_primary_10_1109_ACCESS_2023_3323583 crossref_primary_10_1002_aisy_202500505 crossref_primary_10_1007_s40747_025_02045_x crossref_primary_10_3390_app14209532 crossref_primary_10_1109_LRA_2024_3388789 crossref_primary_10_1109_LRA_2025_3570131 crossref_primary_10_1007_s11071_025_11276_z crossref_primary_10_1016_j_engappai_2025_110406 crossref_primary_10_1109_TASE_2024_3462958 crossref_primary_10_1109_TMRB_2025_3583172 crossref_primary_10_1007_s11431_023_2519_9 crossref_primary_10_1109_LRA_2024_3426371 crossref_primary_10_1002_rob_22587 crossref_primary_10_1177_02783649251350716 crossref_primary_10_1109_LRA_2024_3377557 crossref_primary_10_3390_machines12020129 crossref_primary_10_1109_LRA_2025_3532165 crossref_primary_10_1109_LRA_2025_3573629 crossref_primary_10_3390_mi15030313 crossref_primary_10_1109_LRA_2024_3495579 crossref_primary_10_3390_act13120472 crossref_primary_10_3390_su16198504 crossref_primary_10_1080_15376494_2025_2509259 crossref_primary_10_1109_ACCESS_2025_3535677 crossref_primary_10_1109_ACCESS_2025_3580681 crossref_primary_10_1016_j_ijmecsci_2025_110717 crossref_primary_10_1007_s10409_024_24436_x crossref_primary_10_1109_TCST_2025_3550030 crossref_primary_10_1109_LRA_2023_3300226 crossref_primary_10_1109_TRO_2024_3366818 crossref_primary_10_1109_LRA_2025_3606389 crossref_primary_10_1002_adfm_202420815 crossref_primary_10_1088_1748_3190_ad262c crossref_primary_10_1007_s00707_023_03814_w crossref_primary_10_1016_j_mechatronics_2024_103241 crossref_primary_10_1016_j_mechmachtheory_2024_105856 crossref_primary_10_1002_aisy_202400753 crossref_primary_10_1109_LRA_2024_3405384 crossref_primary_10_1017_S0263574724000651 crossref_primary_10_1088_1748_3190_ad2084 crossref_primary_10_1038_s41598_024_79084_w crossref_primary_10_3390_biomimetics10020071 crossref_primary_10_3390_jmse12020292 crossref_primary_10_1109_TRO_2024_3428432 crossref_primary_10_1016_j_robot_2025_104988 crossref_primary_10_1109_TRO_2024_3522182 crossref_primary_10_1109_LRA_2024_3360813 crossref_primary_10_1115_1_4068960 crossref_primary_10_1109_LRA_2024_3490258 crossref_primary_10_1016_j_mechatronics_2024_103194 crossref_primary_10_1002_aisy_202300299 crossref_primary_10_1016_j_mechmachtheory_2024_105589 crossref_primary_10_1016_j_engappai_2025_110791 crossref_primary_10_1038_s41467_024_54327_6 crossref_primary_10_1002_aisy_202400344 crossref_primary_10_1002_aisy_202400068 crossref_primary_10_1109_LRA_2024_3434929 crossref_primary_10_1109_TEVC_2023_3327459 crossref_primary_10_1177_28350111251365628 crossref_primary_10_3390_mca28020053 crossref_primary_10_1088_1748_3190_ad5129 crossref_primary_10_1007_s11044_024_09968_2 crossref_primary_10_3390_s25113553 crossref_primary_10_1007_s40684_023_00533_4 crossref_primary_10_1088_2516_1091_adc9ea crossref_primary_10_1021_acsaenm_5c00347 crossref_primary_10_1109_TSMC_2024_3451469 crossref_primary_10_1002_aisy_202200367 crossref_primary_10_1038_s41467_025_60496_9 crossref_primary_10_1109_LRA_2024_3399590 crossref_primary_10_1109_LRA_2025_3597852 crossref_primary_10_1109_TMECH_2024_3352643 crossref_primary_10_1002_adrr_202500085 crossref_primary_10_1177_17298806241246886 crossref_primary_10_3390_act14030110 crossref_primary_10_1007_s11071_025_11633_y crossref_primary_10_1089_soro_2024_0158 crossref_primary_10_1002_aisy_202401027 crossref_primary_10_1016_j_mechatronics_2023_103064 crossref_primary_10_3390_biomimetics8080596 crossref_primary_10_1098_rspa_2024_0642 crossref_primary_10_1109_TRO_2024_3386393 crossref_primary_10_1002_advs_202401123 crossref_primary_10_1109_TIE_2023_3303636 crossref_primary_10_1016_j_robot_2025_104925 crossref_primary_10_1177_02783649241262333 crossref_primary_10_1109_LRA_2022_3183248 crossref_primary_10_3390_biomimetics9120754 crossref_primary_10_1007_s00170_025_15497_9 crossref_primary_10_1016_j_jmps_2025_106136 crossref_primary_10_1109_TRO_2024_3370089 crossref_primary_10_1109_LRA_2023_3307007 crossref_primary_10_1038_s41586_025_09170_0 crossref_primary_10_3390_mi16030346 crossref_primary_10_1142_S2424905X25400070 crossref_primary_10_1177_02783649241310885 crossref_primary_10_1109_TASE_2025_3582945 crossref_primary_10_1177_09544100241263004 crossref_primary_10_1016_j_tws_2025_112910 crossref_primary_10_1017_S0263574724002066 crossref_primary_10_1109_LRA_2025_3597862 crossref_primary_10_1109_LCSYS_2023_3344286 crossref_primary_10_1109_TAC_2024_3485404 crossref_primary_10_3390_act14070348 crossref_primary_10_1109_TMECH_2025_3559330
Cites_doi	10.1109/TRO.2020.3036618 10.1109/ICRA.2011.5979607 10.1007/8415_2012_125 10.1109/IROS.2011.6094941 10.1109/TRO.2008.2006249 10.3182/20140824-6-ZA-1003.01758 10.1002/aisy.202000187 10.1109/TMECH.2014.2313741 10.1109/IROS45743.2020.9340827 10.1089/soro.2016.0051 10.1016/0045-7825(89)90002-9 10.1109/TRO.2018.2861900 10.1098/rsos.171628 10.3390/robotics9030052 10.1109/TRO.2020.3038693 10.1109/LRA.2021.3063704 10.1007/s43154-021-00052-7 10.1109/ICRA.2019.8794333 10.1109/LRA.2022.3192886 10.1109/TMECH.2015.2396114 10.1177/0278364910368147 10.1109/TMECH.2015.2490180 10.1177/0278364915596450 10.1155/2008/520417 10.1109/ICRA40945.2020.9196808 10.1016/j.ijsolstr.2020.09.015 10.1145/3450626.3459832 10.1109/RoboSoft48309.2020.9116015 10.1109/TRO.2008.2002311 10.1007/BF01602645 10.1109/TRO.2013.2281564 10.1002/nme.1620261105 10.1145/1360612.1360662 10.1109/SICE.2002.1196530 10.1088/0964-1726/25/10/105020 10.1177/0278364906065388 10.1089/soro.2018.0104 10.1109/TRO.2020.3043654 10.1007/978-1-4899-7560-7 10.1109/LRA.2017.2743100 10.1109/TRO.2014.2325992 10.1006/jsvi.1998.1526 10.1109/LRA.2019.2955936 10.1109/TRO.2015.2489500 10.1109/CDC42340.2020.9303976 10.1109/ICRA.2019.8794370 10.1177/0278364919881685 10.1109/TRO.2014.2314777 10.1126/scirobotics.aah3690 10.1109/TRO.2006.875492 10.1089/soro.2018.0047 10.1007/s11831-017-9232-5 10.5402/2013/726506 10.1109/TRO.2015.2428511 10.1109/TRO.2018.2878318 10.1177/0278364918769992 10.1109/TRO.2021.3075643 10.1016/j.jsv.2021.116511 10.1109/IROS.2014.6942576 10.1109/TRO.2017.2753829 10.1088/1748-3182/7/2/025006 10.1115/1.1900750 10.1089/soro.2018.0007 10.1109/TRO.2011.2160469 10.1038/s41467-020-15651-9 10.1109/BIOROB.2014.6913770 10.1177/0278364919842269 10.1016/j.finel.2013.04.001 10.1109/MRA.2009.932130 10.1109/IROS.2006.282072 10.1016/j.mechmachtheory.2019.04.008 10.1109/37.833638 10.1109/IROS40897.2019.8967776 10.1109/TRO.2012.2232532 10.1109/TRO.2008.924923 10.1109/TRO.2015.2428504 10.1109/ROBIO.2011.6181270 10.1109/TRO.2005.861458 10.1109/TBME.2009.2013134 10.1109/TRO.2011.2171616 10.1080/01691864.2015.1052848 10.1017/CBO9780511529665 10.1109/IROS51168.2021.9636059 10.1137/17M1125236 10.1109/TRO.2010.2046924 10.1109/LRA.2018.2855803 10.1109/LRA.2021.3063698 10.1089/soro.2017.0111 10.1109/IROS.2011.6094477 10.1109/TRO.2015.2496826 10.1098/rspa.2016.0870 10.1016/j.cma.2013.10.008 10.1002/adem.201500503 10.3389/frobt.2021.732643 10.1109/TRO.2009.2035740 10.1007/s00332-016-9324-7 10.1109/TMECH.2003.812829 10.1088/1748-3190/10/5/055005 10.1038/nature14543 10.1088/1748-3190/aa839f 10.1115/1.4036579 10.1109/LRA.2021.3061977 10.1016/0045-7825(88)90073-4 10.1109/TRO.2018.2868815 10.1109/IRC.2018.00046 10.1163/156855395X00175 10.1109/TNNLS.2013.2287890 10.1109/70.294209 10.1177/0278364910367543 10.1109/TRO.2021.3076830 10.1109/LRA.2020.2985620 10.1145/1778765.1778853 10.1109/TRO.2020.3000290 10.1109/ICRA.2011.5980285 10.1109/LRA.2022.3185377 10.1089/soro.2017.0007 10.1109/ICRA.2013.6631138 10.1109/LRA.2020.2967269 10.1371/journal.pone.0246102 10.1080/01691864.2017.1395362 10.1109/MRA.2022.3202488 10.1006/jsvi.2001.4180 10.1080/00029890.1949.11990208 10.3389/frobt.2021.730330 10.1016/j.jcp.2013.06.034 10.1115/1.4045037 10.1109/ICRA.2015.7139498 10.1109/TRO.2012.2193232 10.1109/LRA.2021.3064247 10.1002/nme.879 10.1088/1748-3190/10/3/035006 10.1089/soro.2018.0105 10.1109/ACCESS.2021.3077186 10.1109/TRO.2008.2006868 10.1145/3072959.3073636 10.1109/ICRA.2013.6631205 10.3389/frobt.2020.630245 10.1145/3386569.3392425 10.1115/1.4027235 10.1109/TRO.2007.906248 10.1088/1748-3190/10/3/035002 10.1089/soro.2018.0162 10.1109/LRA.2022.3183248 10.1017/CBO9781139178938 10.1109/TRO.2009.2022426 10.3389/frobt.2017.00022 10.1371/journal.pone.0192052 10.1023/A:1009740800463 10.1109/ICRA.2018.8461186 10.1109/AIM.2007.4412492
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2023 Distributed under a Creative Commons Attribution 4.0 International License
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2023 – notice: Distributed under a Creative Commons Attribution 4.0 International License
DBID	97E ESBDL RIA RIE AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D 1XC VOOES
DOI	10.1109/TRO.2022.3231360
DatabaseName	IEEE Xplore (IEEE) IEEE Xplore Open Access Journals IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional Hyper Article en Ligne (HAL) Hyper Article en Ligne (HAL) (Open Access)
DatabaseTitle	CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional
DatabaseTitleList	Technology Research Database
Database_xml	– sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering Computer Science
EISSN	1941-0468
EndPage	1748
ExternalDocumentID	oai:HAL:hal-04334544v1 10_1109_TRO_2022_3231360 10008950
Genre	orig-research
GrantInformation_xml	– fundername: COSSEROOTS – fundername: Khalifa University of Science and Technology grantid: CIRA-2020-074; RC1-2018-KUCARS – fundername: French National Research Agency – fundername: ANR-20-CE33-0001 (2020-2024) – fundername: US Office of Naval Research Global grantid: N62909-21-1-2033
GroupedDBID	.DC 0R~ 29I 4.4 5GY 5VS 6IK 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACIWK AENEX AETIX AGQYO AGSQL AHBIQ AIBXA AKJIK AKQYR ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD ESBDL F5P HZ~ H~9 IFIPE IPLJI JAVBF LAI M43 MS~ O9- OCL P2P PQQKQ RIA RIE RNS VJK AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D 1XC VOOES
ID	FETCH-LOGICAL-c368t-89ad8c2d3c09fffde08df0dd8bca491308e0dee88fde4c46b95f28a4c31b2ce63
IEDL.DBID	RIE
ISICitedReferencesCount	188
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000915774500001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	1552-3098
IngestDate	Tue Oct 14 20:39:42 EDT 2025 Sun Nov 09 07:55:44 EST 2025 Tue Nov 18 22:24:38 EST 2025 Sat Nov 29 01:47:31 EST 2025 Wed Aug 27 02:25:55 EDT 2025
IsDoiOpenAccess	true
IsOpenAccess	true
IsPeerReviewed	true
IsScholarly	true
Issue	3
Keywords	Robotics (cs.RO) FOS: Computer and information sciences
Language	English
License	https://creativecommons.org/licenses/by/4.0/legalcode Distributed under a Creative Commons Attribution 4.0 International License: http://creativecommons.org/licenses/by/4.0
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c368t-89ad8c2d3c09fffde08df0dd8bca491308e0dee88fde4c46b95f28a4c31b2ce63
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ORCID	0000-0003-4022-7501 0000-0002-1833-9809 0000-0001-6030-7117 0000-0002-8055-6257 0000-0003-0021-9590
OpenAccessLink	https://ieeexplore.ieee.org/document/10008950
PQID	2823193322
PQPubID	27625
PageCount	21
ParticipantIDs	proquest_journals_2823193322 crossref_citationtrail_10_1109_TRO_2022_3231360 ieee_primary_10008950 crossref_primary_10_1109_TRO_2022_3231360 hal_primary_oai_HAL_hal_04334544v1
PublicationCentury	2000
PublicationDate	2023-June 2023-6-00 20230601 2023-06
PublicationDateYYYYMMDD	2023-06-01
PublicationDate_xml	– month: 06 year: 2023 text: 2023-June
PublicationDecade	2020
PublicationPlace	New York
PublicationPlace_xml	– name: New York
PublicationTitle	IEEE transactions on robotics
PublicationTitleAbbrev	TRO
PublicationYear	2023
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref57 ref56 ref59 ref58 ref53 ref52 ref55 ref54 goury (ref40) 2021; 6 ref50 ref45 ref48 ref47 ref42 ref41 ref44 ref43 ref49 bullo (ref14) 2004 ref8 ref7 ref9 ref4 ref3 ref6 ref5 ref100 ref101 sadati (ref156) 2021; 40 ref37 ref36 ref148 ref31 ref149 ref30 ref146 ref33 ref147 ref32 ref39 ref38 ref155 ref153 ref152 ref150 ref24 ref23 ref26 ref25 ref159 ref20 ref157 ref22 ref158 ref28 ref27 ref29 cosserat (ref21) 1909 rolf (ref151) 2014; 25 ref162 ref163 ref160 ref13 ref12 ref128 ref129 ref97 ref126 ref96 ref127 ref99 ref124 ref11 ref98 ref125 ref10 ref16 ref19 ref18 ref93 ref133 ref134 ref95 ref131 ref94 ref132 ref130 ref91 ref90 ref89 ref139 ref86 ref137 ref85 ref138 ref135 ref136 caasenbrood (ref81) 2022 xu (ref87) 2009; 2 ref82 ref144 ref145 ref84 ref142 ref83 ref143 ref140 ref141 ref80 ref79 ref108 santina (ref161) 2021 ref78 ref109 ref106 laschi (ref2) 2016; 1 ref107 ref75 ref104 ref74 ref105 ref77 ref102 ref76 ref103 ref1 allard (ref34) 2007; 125 mecano (ref67) 0 ref71 ref111 xu (ref88) 2010; 26 ref70 ref112 faure (ref35) 2012 ref73 ref72 ref110 burgess (ref46) 1993; 3 hirose (ref92) 1994; 12 ref68 ref119 ref117 ref69 ref118 sun (ref51) 1996 ref64 ref115 ref63 ref116 ref66 ref113 ref65 ref114 thieffry (ref154) 2019; 4 ogden (ref17) 1999 ref60 ref122 ref123 ref62 ref120 ref61 ref121 murray (ref15) 1994
References_xml	– ident: ref28 doi: 10.1109/TRO.2020.3036618 – ident: ref111 doi: 10.1109/ICRA.2011.5979607 – year: 2012 ident: ref35 article-title: Sofa: A multi-model framework for interactive physical simulation publication-title: Studies in Mechanobiology Tissue Engineering and Biomaterials doi: 10.1007/8415_2012_125 – ident: ref126 doi: 10.1109/IROS.2011.6094941 – ident: ref59 doi: 10.1109/TRO.2008.2006249 – ident: ref144 doi: 10.3182/20140824-6-ZA-1003.01758 – ident: ref31 doi: 10.1002/aisy.202000187 – ident: ref104 doi: 10.1109/TMECH.2014.2313741 – ident: ref61 doi: 10.1109/IROS45743.2020.9340827 – ident: ref148 doi: 10.1089/soro.2016.0051 – ident: ref63 doi: 10.1016/0045-7825(89)90002-9 – ident: ref39 doi: 10.1109/TRO.2018.2861900 – ident: ref138 doi: 10.1098/rsos.171628 – ident: ref33 doi: 10.3390/robotics9030052 – ident: ref152 doi: 10.1109/TRO.2020.3038693 – ident: ref76 doi: 10.1109/LRA.2021.3063704 – ident: ref42 doi: 10.1007/s43154-021-00052-7 – ident: ref158 doi: 10.1109/ICRA.2019.8794333 – ident: ref163 doi: 10.1109/LRA.2022.3192886 – ident: ref145 doi: 10.1109/TMECH.2015.2396114 – ident: ref6 doi: 10.1177/0278364910368147 – ident: ref105 doi: 10.1109/TMECH.2015.2490180 – ident: ref112 doi: 10.1177/0278364915596450 – ident: ref3 doi: 10.1155/2008/520417 – ident: ref127 doi: 10.1109/ICRA40945.2020.9196808 – ident: ref91 doi: 10.1016/j.ijsolstr.2020.09.015 – ident: ref160 doi: 10.1145/3450626.3459832 – ident: ref116 doi: 10.1109/RoboSoft48309.2020.9116015 – ident: ref25 doi: 10.1109/TRO.2008.2002311 – ident: ref29 doi: 10.1007/BF01602645 – ident: ref120 doi: 10.1109/TRO.2013.2281564 – ident: ref64 doi: 10.1002/nme.1620261105 – ident: ref135 doi: 10.1145/1360612.1360662 – ident: ref132 doi: 10.1109/SICE.2002.1196530 – ident: ref90 doi: 10.1088/0964-1726/25/10/105020 – ident: ref113 doi: 10.1177/0278364906065388 – ident: ref140 doi: 10.1089/soro.2018.0104 – ident: ref43 doi: 10.1109/TRO.2020.3043654 – ident: ref58 doi: 10.1007/978-1-4899-7560-7 – year: 2004 ident: ref14 publication-title: Geometric Control of Mechanical Systems – ident: ref71 doi: 10.1109/LRA.2017.2743100 – ident: ref24 doi: 10.1109/TRO.2014.2325992 – ident: ref47 doi: 10.1006/jsvi.1998.1526 – ident: ref82 doi: 10.1109/LRA.2019.2955936 – ident: ref11 doi: 10.1109/TRO.2015.2489500 – ident: ref83 doi: 10.1109/CDC42340.2020.9303976 – ident: ref37 doi: 10.1109/ICRA.2019.8794370 – volume: 40 start-page: 296 year: 2021 ident: ref156 article-title: TMTDyn: A MATLAB package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models publication-title: Int J Robot Res doi: 10.1177/0278364919881685 – ident: ref106 doi: 10.1109/TRO.2014.2314777 – volume: 12 start-page: 282 year: 1994 ident: ref92 article-title: Biologically inspired robots: Snake-like locomotors and manipulators publication-title: Robotica – volume: 1 year: 2016 ident: ref2 article-title: Soft robotics: Technologies and systems pushing the boundaries of robot abilities publication-title: Sci Robot doi: 10.1126/scirobotics.aah3690 – ident: ref22 doi: 10.1109/TRO.2006.875492 – ident: ref73 doi: 10.1089/soro.2018.0047 – ident: ref69 doi: 10.1007/s11831-017-9232-5 – ident: ref103 doi: 10.5402/2013/726506 – ident: ref146 doi: 10.1109/TRO.2015.2428511 – ident: ref150 doi: 10.1109/TRO.2018.2878318 – ident: ref20 doi: 10.1177/0278364918769992 – ident: ref80 doi: 10.1109/TRO.2021.3075643 – ident: ref77 doi: 10.1016/j.jsv.2021.116511 – ident: ref134 doi: 10.1109/IROS.2014.6942576 – ident: ref55 doi: 10.1109/TRO.2017.2753829 – ident: ref60 doi: 10.1088/1748-3182/7/2/025006 – ident: ref131 doi: 10.1115/1.1900750 – ident: ref30 doi: 10.1089/soro.2018.0007 – ident: ref26 doi: 10.1109/TRO.2011.2160469 – ident: ref141 doi: 10.1038/s41467-020-15651-9 – ident: ref123 doi: 10.1109/BIOROB.2014.6913770 – ident: ref52 doi: 10.1177/0278364919842269 – ident: ref72 doi: 10.1016/j.finel.2013.04.001 – ident: ref93 doi: 10.1109/MRA.2009.932130 – ident: ref115 doi: 10.1109/IROS.2006.282072 – ident: ref130 doi: 10.1016/j.mechmachtheory.2019.04.008 – ident: ref1 doi: 10.1109/37.833638 – ident: ref98 doi: 10.1109/IROS40897.2019.8967776 – ident: ref70 doi: 10.1109/TRO.2012.2232532 – ident: ref50 doi: 10.1109/TRO.2008.924923 – ident: ref89 doi: 10.1109/TRO.2015.2428504 – year: 2022 ident: ref81 article-title: Control-oriented models for hyperelastic soft robots through differential geometry of curves publication-title: Software Robotic – ident: ref110 doi: 10.1109/ROBIO.2011.6181270 – year: 1996 ident: ref51 article-title: Modelling and simulation of low-tension oceanic cable/body deployment – ident: ref102 doi: 10.1109/TRO.2005.861458 – ident: ref133 doi: 10.1109/TBME.2009.2013134 – ident: ref23 doi: 10.1109/TRO.2011.2171616 – year: 1994 ident: ref15 publication-title: A Mathematical Introduction to Robotic Manipulation – ident: ref7 doi: 10.1080/01691864.2015.1052848 – ident: ref16 doi: 10.1017/CBO9780511529665 – ident: ref157 doi: 10.1109/IROS51168.2021.9636059 – ident: ref153 doi: 10.1137/17M1125236 – year: 0 ident: ref67 – volume: 26 start-page: 555 year: 2010 ident: ref88 article-title: Intrinsic wrench estimation and its performance index for multisegment continuum robots publication-title: IEEE Trans Robot doi: 10.1109/TRO.2010.2046924 – ident: ref48 doi: 10.1109/LRA.2018.2855803 – ident: ref139 doi: 10.1109/LRA.2021.3063698 – ident: ref97 doi: 10.1089/soro.2017.0111 – volume: 3 start-page: 197 year: 1993 ident: ref46 article-title: Bending stiffness in a simulation of undersea cable deployment publication-title: Int J Offshore Polar Eng – ident: ref108 doi: 10.1109/IROS.2011.6094477 – year: 1999 ident: ref17 publication-title: Non-Linear Elastic Deformations – ident: ref107 doi: 10.1109/TRO.2015.2496826 – ident: ref86 doi: 10.1098/rspa.2016.0870 – ident: ref66 doi: 10.1016/j.cma.2013.10.008 – ident: ref32 doi: 10.1002/adem.201500503 – ident: ref12 doi: 10.3389/frobt.2021.732643 – ident: ref122 doi: 10.1109/TRO.2009.2035740 – ident: ref19 doi: 10.1007/s00332-016-9324-7 – ident: ref101 doi: 10.1109/TMECH.2003.812829 – ident: ref18 doi: 10.1088/1748-3190/10/5/055005 – ident: ref4 doi: 10.1038/nature14543 – ident: ref149 doi: 10.1088/1748-3190/aa839f – ident: ref27 doi: 10.1115/1.4036579 – ident: ref41 doi: 10.1109/LRA.2021.3061977 – ident: ref62 doi: 10.1016/0045-7825(88)90073-4 – ident: ref45 doi: 10.1109/TRO.2018.2868815 – ident: ref8 doi: 10.1109/IRC.2018.00046 – ident: ref95 doi: 10.1163/156855395X00175 – volume: 25 start-page: 1147 year: 2014 ident: ref151 article-title: Efficient exploratory learning of inverse kinematics on a bionic elephant trunk publication-title: IEEE Trans Neural Netw Learn Syst doi: 10.1109/TNNLS.2013.2287890 – ident: ref94 doi: 10.1109/70.294209 – volume: 125 start-page: 13 year: 2007 ident: ref34 article-title: Sofa-An open source framework for medical simulation publication-title: MMVR 15-Medicine Meets Virtual Reality – ident: ref56 doi: 10.1177/0278364910367543 – ident: ref49 doi: 10.1109/TRO.2021.3076830 – volume: 2 year: 2009 ident: ref87 article-title: Analytic formulation for kinematics, statics and shape restoration of multi-backbone continuum robots via elliptic integrals publication-title: ASME J Mech Robot – ident: ref74 doi: 10.1109/LRA.2020.2985620 – ident: ref136 doi: 10.1145/1778765.1778853 – ident: ref57 doi: 10.1109/TRO.2020.3000290 – ident: ref128 doi: 10.1109/ICRA.2011.5980285 – ident: ref99 doi: 10.1109/LRA.2022.3185377 – ident: ref5 doi: 10.1089/soro.2017.0007 – ident: ref38 doi: 10.1109/ICRA.2013.6631138 – ident: ref117 doi: 10.1109/LRA.2020.2967269 – ident: ref9 doi: 10.1371/journal.pone.0246102 – ident: ref36 doi: 10.1080/01691864.2017.1395362 – ident: ref75 doi: 10.1109/MRA.2022.3202488 – ident: ref53 doi: 10.1006/jsvi.2001.4180 – ident: ref78 doi: 10.1080/00029890.1949.11990208 – ident: ref10 doi: 10.3389/frobt.2021.730330 – ident: ref137 doi: 10.1016/j.jcp.2013.06.034 – ident: ref125 doi: 10.1115/1.4045037 – ident: ref124 doi: 10.1109/ICRA.2015.7139498 – ident: ref84 doi: 10.1109/TRO.2012.2193232 – volume: 6 start-page: 3752 year: 2021 ident: ref40 article-title: Real-time simulation for control of soft robots with self-collisions using model order reduction for contact forces publication-title: IEEE Robot Autom Lett doi: 10.1109/LRA.2021.3064247 – ident: ref65 doi: 10.1002/nme.879 – ident: ref147 doi: 10.1088/1748-3190/10/3/035006 – ident: ref100 doi: 10.1089/soro.2018.0105 – ident: ref54 doi: 10.1109/ACCESS.2021.3077186 – ident: ref114 doi: 10.1109/TRO.2008.2006868 – ident: ref142 doi: 10.1145/3072959.3073636 – ident: ref129 doi: 10.1109/ICRA.2013.6631205 – ident: ref13 doi: 10.3389/frobt.2020.630245 – ident: ref159 doi: 10.1145/3386569.3392425 – ident: ref121 doi: 10.1115/1.4027235 – ident: ref143 doi: 10.1109/TRO.2007.906248 – volume: 4 start-page: 25 year: 2019 ident: ref154 article-title: Control design for soft robots based on reduced-order model publication-title: IEEE Robot Autom Lett – ident: ref109 doi: 10.1088/1748-3190/10/3/035002 – ident: ref44 doi: 10.1089/soro.2018.0162 – ident: ref162 doi: 10.1109/LRA.2022.3183248 – ident: ref85 doi: 10.1017/CBO9781139178938 – ident: ref118 doi: 10.1109/TRO.2009.2022426 – year: 1909 ident: ref21 publication-title: Theorie des Corps Deformables – ident: ref119 doi: 10.3389/frobt.2017.00022 – year: 2021 ident: ref161 article-title: Model based control of soft robots: A survey of the state of the art and open challenges – ident: ref155 doi: 10.1371/journal.pone.0192052 – ident: ref68 doi: 10.1023/A:1009740800463 – ident: ref79 doi: 10.1109/ICRA.2018.8461186 – ident: ref96 doi: 10.1109/AIM.2007.4412492
SSID	ssj0024903
Score	2.708661
Snippet	The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices....
SourceID	hal proquest crossref ieee
SourceType	Open Access Repository Aggregation Database Enrichment Source Index Database Publisher
StartPage	1728
SubjectTerms	and learning for soft robots Computational mechanics Computer graphics Computer Science Continuum mechanics control Dynamics flexible robots kinematics Mathematical models modeling Numerical methods Robot kinematics Robotics Robots Soft robotics Solid modeling Strain Stress Tensors
Title	Soft Robots Modeling: A Structured Overview
URI	https://ieeexplore.ieee.org/document/10008950 https://www.proquest.com/docview/2823193322 https://hal.science/hal-04334544
Volume	39
WOSCitedRecordID	wos000915774500001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1941-0468 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0024903 issn: 1552-3098 databaseCode: RIE dateStart: 20040101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3fS8MwEA46fNAHf06cTinii0i3tKndxbchjj2Ik6ngW2mSCwqyyjbnv28u7dxAFHwrbVLKd-ldLnf3HWNngBBrZ2nCPLK5c1AiFeYWVGgV1euizhPtJX3bubuD52d5XxWr-1oYRPTJZ9iiSx_LN4X-oKOyNp1FgyQPfbXTSctirQWxnvRtkIlSLBRcwjwmyWX7cThwnmAct4TbzQjPRrmwQasvlAHpW6v80MfeyPS2_vl522yz2k0G3VL8O2wFR7tsY4ljcI9dPDhFGwwLVUwnAXU-o_rzq6AbPHjm2I8xmmAwI42Bn3X21Lt5vO6HVYeEUIsUpiHI3ICOjdBcWmsNcjCWGwPKgSydeQLkBhHAPUp0kip5aWNw-ItIxRpTsc9qo2KEByzQNtfEVQfSYiINV5qngJjHNrE5F6rB2nPMMl3Rh1MXi7fMuxFcZg7ljFDOKpQb7Px7xntJnfHH2FMnhu9hxHnd795mdI8Y1pLLJJlFDVYn0JdeVuLdYM252LLqD5xkMcU3pXD66vCXaUdsnXrHl3lfTVZzqOMxW9Oz6etkfOIX1xfwWstB
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3dSxwxEB_8gupD1VbxrB9L6Usp6-WS9Zz4dhTlxOtZ9Aq-hU0yQUHuxDvPf99Mdk-F0oJvy26yLL_JzmQyM78B-IaE0kVLk5etUEYHpWXzMqDNg-V6XXJl4ZKke0f9Pl5f6991sXqqhSGilHxGB3yZYvl-5B75qKzJZ9Go2UNfPCwKKapyrVdqPZ0aITOpWK6ExllUUujm4PIi-oJSHqi4n1GJj_LVCs3fcA5kaq7yl0ZOZuZ09Z0fuAYf6_1k1qkWwDrM0fATrLxhGfwMP66iqs0uR3Y0GWfc-4wr0I-zTnaVuGMfH8hnF1PWGfS0AX9OTwY_u3ndIyF3qo2THHXp0UmvnNAhBE8CfRDeo40w62igkIQnQoyPCle0rT4MEqMEVMtKR221CQvD0ZC2IHOhdMxWhzpQob2wTrSRqJShCKVQtgHNGWbG1QTi3MfiziRHQmgTUTaMsqlRbsD3lxn3FXnGf8Z-jWJ4Gcas191Oz_A95lgrosCnrQZsMOhvXlbh3YCdmdhM_Q-OjeQIp1ZRY23_Y9o-fOgOfvVM76x__gWWuZN8lQW2AwtRArQLS246uR0_7KWF9gyvWM6I
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Soft+Robots+Modeling%3A+A+Structured+Overview&rft.jtitle=IEEE+transactions+on+robotics&rft.au=Armanini%2C+Costanza&rft.au=Boyer%2C+Fr%C3%A9d%C3%A9ric&rft.au=Mathew%2C+Anup+Teejo&rft.au=Duriez%2C+Christian&rft.date=2023-06-01&rft.pub=IEEE&rft.issn=1552-3098&rft.eissn=1941-0468&rft.volume=39&rft.issue=3&rft.spage=1728&rft.epage=1748&rft_id=info:doi/10.1109%2FTRO.2022.3231360&rft.externalDBID=HAS_PDF_LINK&rft.externalDocID=oai%3AHAL%3Ahal-04334544v1
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1552-3098&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1552-3098&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1552-3098&client=summon