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Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction Through Robot Shape: Quasi-Static Modeling and Experimental Validation

Zhiwu Zheng, Prakhar Kumar, Yenan Chen, Hsin Cheng, Sigurd Wagner, Minjie Chen, Naveen Verma, James C. Sturm. Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction Through Robot Shape: Quasi-Static Modeling and Experimental Validation. IEEE Transactions on Robotics, 40:2339-2356, 2024. [doi]

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