Model-Based Control of Planar Piezoelectric Inchworm Soft Robot for Crawling in Constrained Environments

Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges for precise and robust shape control in real-time. Motivated by their potential to operate in highly-constrained environments, as in search-and-rescue operations...