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cs.RO2026
Design Optimization for Large High-Force Soft Robot Manipulators Under Gravitational Loads
Isara Cholaseuk, Penelope Llibre, Alexa Kyriacou +5
Designing large soft robots capable of generating high forces for physical human-robot interaction remains a significant challenge in soft robotics. Prior work in large soft robots…
cs.RO2026
Trajectory Generation for Underactuated Soft Robot Manipulators using Discrete Elastic Rod Dynamics
Beibei Liu, Akua K. Dickson, Ran Jing +1
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-f…