We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is propose...

Recently, data-driven approaches in the field of material modeling have gained significant attention. A major advantage these is direct integration experimental results into models. Nevertheless, artificial neural networks (ANNs) are especially challenging to interpret from a physical point view, since internal processes ANNs difficult understand. In this work new automatic method for generatio...

In this research, the exponential stretched based hyperelastic strain energy was modified to provide the unstressed initial configuration. To this end, as the first step, the model was calibrated by the experimental data to find the best material parameters. The fitting results indicated material stability in large deformations and basic loading modes. In the second step, the initial pseudo str...

An elastomer is a polymer with the property of viscoelasticity, generally having notably low Young's modulus and high yield strain compared with other materials.  Elastomers, in particular rubbers, are used in a wide variety of products ranging from rubber hoses, isolation bearings, and shock absorbers to tires. Rubber has good properties and is thermal and electrical resistant. We used carbon ...