Sep 16, 2026 · cs.ROJ/K move · Enter open · S save
Huishi Huang, Danlu Chen, Matteo Lo Preti, Jun Liu+2
How do elephant trunks generate complex postures without relying solely on fine segmental activation? We propose that part of this complexity arises from a low-dimensional geometric shortcut: dual-helicity coupling between opposite-handed oblique muscles. In a simplified soft-robotic prototype, varying only two geometric parameters generates a broad library of elephant-like postures, suggesting a dual-layer control architecture with implications for continuum robot design and biological hypotheses.