Abstract: A screw-based formulation of the kinematics, differential kinematics, and statics of soft manipulators is presented, which introduces the soft robotics counterpart to the fundamental geometric theory of robotics developed ...

Abstract: Octopuses are an example of dexterous animals found in nature. Their arms are flexible, can vary in stiffness, grasp objects, apply high forces with respect to their relatively light weight, and bend in all directions. ...