Soft Robotics

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22 papers in the last four weeks, up 175% on the four weeks before. 0.2% of all new papers.

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  1. Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion

    Sep 30, 2026Zheng Cao, Guo Ning Sue, Xiangyun Bu +3Soft RoboticsInertial Measurement Units

    Carnegie Mellon University

  2. PneuTac: Tactile Manipulation with Soft Pneumatic Robots via Unified MPM-Gaussian Splatting Simulation

    Sep 29, 2026Shaohong Zhong, Marco Pontin, Joe Watson +2TactileSoft Robotics

    Oxford Robotics Institute, Department of Engineering Science, University of Oxford, OX1 3PJ Oxford, U.K.

  3. Closed-Form Cartesian Forward Kinetostatics for Spatial Multi-Segment Tendon-Driven Continuum Robots

    Sep 29, 2026Ke Wu, Fangju Yang, Xiaohui Zhang +4Cosserat Rod TheorySoft Robotics

  4. LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots

    Sep 28, 2026Anupam Chatterjee, Arpita KumariControl ArchitectureOdometry

    This work was conducted as independent research and received no financial or institutional support from any organization.

  5. Contact-Aware Impedance Controller for Robot-Assisted Ultrasound Imaging

    Sep 28, 2026MD Miraj Arefin, M Efe TiryakiRobotic UltrasoundImpedance Control

    Center for Robotics and AI (ROMER), Middle East Technical University, Ankara, Turkey

  6. Observability-Informed Optimal Sensor Placement for Soft Robots

    Sep 27, 2026Samuel Smocot, James Richard Forbes, Audrey SedalOptimal Sensor PlacementSoft Robotics

    Dept. of Mechanical Engineering, McGill University, Montreal, Canada. · Mila – Québec AI Institute, Montreal, Canada.

  7. A Tendon-Driven Robotic Jellyfish with Constrained Soft Actuation and Depth Control via Reinforcement Learning

    Sep 24, 2026Jiarui Peng, Yutong Wu, Zelong Wang +5Soft RoboticsActuator

    Hong Kong Embodied AI Lab, Hong Kong SAR, China · The Chinese University of Hong Kong, Hong Kong SAR, China · The Hong Kong University of Science and Technology, Hong Kong SAR, China

  8. Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot

    Sep 22, 2026Marwah Basuhai, Tingcong Liu, Ibrahim Alsarraj +2Soft RoboticsWhole-Body Control

  9. History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots

    Sep 22, 2026Hang Yang, Tingcong Liu, Junjie Xiong +2Human Motion PredictionSoft Robotics

  10. Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law

    Sep 21, 2026Zhihang Qin, Linxin Hou, Zeyu Zhong +9Cosserat Rod TheorySoft Robotics

    Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore · Advanced Robotics Centre, National University of Singapore, Singapore · Department of Electrical and Computer Engineering, National University of Singapore, Singapore +2

  11. Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles

    Sep 21, 2026Tufail Ahmad Bhat, Shuhei IkemotoRobotic ManipulatorSoft Robotics

    Kyushu Institute of Technology, Japan

  12. A Monolithic Force-Proprioception Soft Acutuator Enabled by Single-Material 3D printing

    Sep 21, 2026Nan Huang, Lele Liu, Junfeng Lu +3Soft Pneumatic ActuatorsAsymmetric Origami Bending

    Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China · Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China

  13. Graph-Based Design of Soft Grippers with Multi-Objective Quality-Diversity Optimisation

    Sep 17, 2026Andre Farinha, Ge Shi, Harry Bowman +3GripperSoft Robotics

    CSIRO Robotics, Australia

  14. Quantifying Mechanical Intelligence in Legged Robots with Information Theory

    Sep 17, 2026Zach J. PattersonLegged RobotsSoft Robotics

    Mechanical and Aerospace Engineering, Case Western Reserve University

  15. Geometric Shortcuts for Complex Trunk Postures: Dual-Helicity Coupling Enables Low-Dimensional Control

    Sep 16, 2026Huishi Huang, Danlu Chen, Matteo Lo Preti +3Soft RoboticsMusculoskeletal

    Advanced Robotics Centre (ARC) and with the Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore (NUS), 117608, Singapore. · Institute of High Performance Computing (IHPC), Agency for Science, Technology and Research (A*STAR), 138632, Singapore.

  16. SPROUT: The Open-Source Soft Growing Robot for Search and Rescue

    Sep 15, 2026Antonio Alvarez Valdivia, Ciera McFarland, Robert Reeve +5Soft RoboticsRobot Systems

    Lincoln Laboratory, Massachusetts Institute of Technology, Lexington, Massachusetts, USA · University of Notre Dame, Notre Dame, Indiana, USA · Stanford University, Stanford, California, USA

  17. Swim-and-Breach at Palm Scale: A Rudder-Steered Two-Propeller Underwater Robot Platform with Differential-Thrust Pitch Control

    Sep 15, 2026Daehyun Choi, Ian Bergerson, Hengjia Zhu +2Underwater RobotsBidirectional Thrust

    BioFrontiers Institute, University of Colorado Boulder, Boulder, CO 80309, USA

  18. SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation

    Sep 15, 2026Tingcong Liu, Aye Phyu Phyu Aung, Junjie Xiong +4Soft RoboticsEmbodied Artificial Intelligence

    Nanyang Technological University, Singapore · Institute of Advanced Intelligence and Computing, A*STAR, Singapore · Mohamed bin Zayed University of Artificial Intelligence, Abu Dhabi, United Arab Emirates +1

  19. Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation

    Sep 14, 2026Guo Ning Sue, Zheng Cao, Junzhe Hu +5Soft RoboticsProprioception

    Carnegie Mellon University

  20. Pneumatic neurons for soft robots enable inflate-and-fire networks for rhythmic motion

    Sep 14, 2026Dongting Li, Michael Tolley, Nick GravishSoft RoboticsSingle Excitation Time History

    MAE Department, UC San Diego, La Jolla, 92093, US

  21. Curriculum-Based Adversarial Heterogeneous Agent Reinforcement Learning for Autonomous Quad-Copter Landing in Maritime Settings

    Sep 14, 2026Allan Minh-Tam Nguyen, Sree Showrya Kotala, Stefan Banioi-Crijman +2Reinforcement Learning ControlUnmanned Aerial Vehicles

    Department of Advanced Computing Sciences, Maastricht University, Minderbroedersberg 4-6, 6211 LK Maastricht, Netherlands

  22. Multi-bounce Drum Roll with Optimized Active Tricks to Leverage Soft Embodiment

    Sep 8, 2026Naoto Yamanaka, Takanori Jin, Taisuke KobayashiSoft RoboticsEmbodied

    National Institute of Informatics (NII) and with The Graduate University for Advanced Studies (SOKENDAI), 2-1-2 Hitotsubashi, Chiyoda-ku, Tokyo, 101-8430, Japan

  23. A Multi-Vine Soft Robot Enabling Accessible Working Channel and Steering

    Sep 3, 2026Reza Kashef, Cem Suulker, Mohammad Sheikh Sofla +1Soft RoboticsCatheters

    School of Engineering and Materials Science, Queen Mary University of London, United Kingdom.

  24. Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local Observables

    Sep 2, 2026Jiahe Wang, Eron Ristich, Sultan Haidar Ali +5Soft RoboticsRobotic Manipulator

  25. One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems

    Sep 1, 2026Jaehyung Jang, Zhenish Zhakypov, Jasmin Elena Palmer +3Asymmetric Origami BendingSoft Robotics

    IRiS Lab, Department of Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea. · CHARM Lab, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA.

  26. Learning to infer and manipulate through distributed whole-arm interaction in a soft robot

    Aug 31, 2026Chuhan Zhang, Ebrahim Shahabi, Kseniia Khomenko +2Soft RoboticsProprioception

    Cognitive Robotics Department, Faculty of Mechanical Engineering, Delft University of Technology, Delft 2628 CD, The Netherlands. · School of Engineering, Newcastle University, UK.

  27. MiBOT: A head-worn robot that modulates cardiovascular responses through human-like soft massage

    Aug 30, 2026Alice Mylaeus, Stephanie Vogt, Berken Utku Demirel +4Soft RoboticsHumanoid Robotics

    Department of Computer Science, ETH Zürich, Switzerland. · Department of Mechanical Engineering, ETH Zürich, Switzerland.

  28. Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception

    Aug 13, 2026Gang Zhang, Yufu Qiu, Junyan Yan +3Soft RoboticsGround Reaction Forces

    Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China · state Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology (HUST), Wuhan, China +1

  29. Manufacturing Complex Airtight Soft Pneumatic Actuators for Soft Robotics: Process Evaluation and Optimization

    Aug 13, 2026Mohammed AbboodiSoft Pneumatic ActuatorsSoft Robotics

  30. Nonlinear Model Predictive Control of a Robotic Soft Esophagus

    Aug 10, 2026Dipankar Bhattacharya, Ryman Hashem, Leo K. Cheng +1Robotic Soft EsophagusModel Predictive Control

    Department of Mechanical Engineering, University of Auckland, Auckland 1010, New Zealand · Auckland Bioengineering Institute, University of Auckland, Auckland 1010, New Zealand

  31. SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

    Aug 6, 2026Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9Soft RoboticsCosserat Rod Theory

    Delft University of Technology, Delft, The Netherlands · Italian Institute of Technology, Genoa, Italy · Massachusetts Institute of Technology, Cambridge, MA, USA +1

  32. Acoustic-driven millimetric helical robot: ultrasonic synergistic manipulation in confined fluidic environment

    Aug 6, 2026Hanlin Wang, Xin Wang, Xinwei Wei +4Robotic UltrasoundFluid Controls

    State Key Laboratory of Industrial Control Technology and the Institute of Cyber-Systems & Control, Zhejiang University, Hangzhou 310027, Zhejiang, China · Huzhou Institute of Zhejiang University, Huzhou Key Laboratory of Robot System Integration and Intelligent Equipment, Huzhou 313099, Zhejiang, China · State Key Laboratory of Advanced Drug Delivery and Release Systems, College of Pharmaceutical Sciences, Zhejiang University, Hangzhou 310058, Zhejiang, China +4

  33. Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots

    Aug 5, 2026Ella Walsh, Spencer Teetaert, Eric Diller +2State EstimationSoft Robotics

    University of Toronto Robotics Institute, Toronto, ON, Canada

  34. Human Centric Embodied Intelligence for Soft Wearable Robotics

    Aug 4, 2026Rainier Natividad, Raye Chen-Hua YeowSoft RoboticsEmbodied Artificial Intelligence

    Department of Biomedical Engineering, National University of Singapore

  35. From Digital to Physical Reservoir Computing: Co-Optimizing Soft Robotic Reservoirs via Dynamics Matching

    Aug 1, 2026Nicola Visentin, Maximilian Stölzle, Mariano Ramírez Montero +3Reservoir ComputingReservoir

    Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands · Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA · Department of Mechanical Engineering, Politecnico di Milano, Milan, Italy

  36. Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning

    Jul 29, 2026Tleukhan Mussin, Yafei Ou, Mahdi TavakoliSurgical RobotsSoft Robotics

    Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, Canada · Department of Biomedical Engineering, University of Alberta, Edmonton, Alberta, Canada

  37. Distributed Acoustic Localization Array Deployed Using a Soft Everting Vine Robot

    Jul 22, 2026Sebastian Lorca Godoy, Ciera McFarland, Michael Val +3Sound Source LocalizationSoft Robotics

  38. Deep learning-based prediction of time-resolved adhesive forces in viscoelastic Hertzian contacts

    Jul 21, 2026Ali Maghami, Merten Stender, Michele Ciavarella +1Soft RoboticsDeep Learning

  39. A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator

    Jul 17, 2026Francesco Stella, Annan Zhang, Cosimo Della Santina +2Soft RoboticsProprioception

    Embodied AI SA, Lausanne, Switzerland · CREATE Lab, STI, EPFL, CH-1015 Lausanne, Switzerland · MIT Computer Science & Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA +2

  40. VAMP-MR: Vector-Accelerated Motion Planning and Execution for Multi-Robot-Arms

    Jul 15, 2026Philip Huang, Chenrui Gao, Jiaoyang LiMulti-Robot Motion PlanningMotion Planning

    Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA · University of Michigan, Ann Arbor

  41. Soft Eversion Robots for Colonoscopy: Challenges, Open Problems, and Emerging Solutions

    Jul 11, 2026Cem Suulker, Thomas Mack, Qingzheng Cong +4Soft RoboticsColonoscopy

    School of Engineering and Materials Science, Queen Mary University of London, United Kingdom.

  42. Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk

    Jul 8, 2026Giovanna A. Naselli, Anderson B. Nardin, Seonggun Joe +6Soft RoboticsBio-Inspired Framework

    Soft BioRobotics Perception Laboratory, Istituto Italiano di Tecnologia, 16163 Genova, GE, Italy · Department of Autonomous Systems Engineering, Korea Aerospace University, Seoul, South Korea · Photocentric Ltd., Peterborough PE1 5XN, United Kingdom +2

  43. A Continual Learning Framework for Adaptive Control of Modular Soft Robots

    Jul 7, 2026Nilay Kushawaha, Muhammad Sunny Nazeer, Baljinder Singh Bal +2Soft RoboticsAdaptive Control

    1The BioRobotics Institute, Scuola Superiore Sant’Anna, 56024, Pontedera, Italy · Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, 56127, Pisa, Italy · Department of Mechanical Engineering, National University of Singapore, 119077, Singapore +1

  44. Efficient Transfer Learning of Robot Dynamic Models Using Morphological Similarity

    Jul 6, 2026Pavlo Kupyn, Yuya Hamamatsu, Roza Gkliva +2Underwater RobotsSoft Robotics

    Department of Computer Systems, Tallinn University of Technology, Tallinn, Estonia

  45. The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments

    Jun 29, 2026Harald Minde Hansen, Nandita Gallacher, Kristin Y. Pettersen +2Soft RoboticsRobot Systems

    Mechatronics, Robotics and Operation Section, European Organization for Nuclear Research (CERN), Meyrin, Switzerland · Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway

  46. Real-Time Compliance and Position Control of a Hyper-redundant Soft Robotic Arm

    Jun 29, 2026Runze Zuo, Tianhua Zou, Naike Wu +2Soft RoboticsRobot Autonomy

    Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA.

  47. Deep Reinforcement Learning-Enhanced Event-Triggered Data-Driven Predictive Control for a 3D Cable-Driven Soft Robotic Arm

    Jun 24, 2026Cheng Ouyang, Moeen Ul Islam, Kaixiang Zhang +3Soft RoboticsReinforcement Learning Control

    Department of Agricultural & Biological Engineering, Mississippi State University, MS, USA · Department of Mechanical Engineering, Michigan State University, MI, USA · Department of Electrical and Computer Engineering, Michigan State University, MI, USA

  48. Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots

    Jun 21, 2026Chengnan Shentu, Nicholas Baldassini, Tongjia Zheng +2Soft RoboticsContact-Rich Manipulation

    University of Toronto, Canada

  49. Programmable magnetic soft robots with controlled locomotion and directional liquid cargo release

    Jun 19, 2026Youyi Zhou, Zoe Evelyn Gureno, Meghna Majumder +1Soft RoboticsMagnetic Tunnel Junction

    Bio-integrated Robotics Lab at Mechanical Engineering Department, University of Wisconsin - Madison, Madison, WI 53706 USA · Biomedical Engineering Department, University of Wisconsin - Madison, Madison, WI 53706 USA · Carbone Cancer Center, University of Wisconsin - Madison, Madison, WI 53706 USA

  50. Learning-Based Modeling of Soft Robots via Cosserat Rod Theory

    Jun 18, 2026Mohammad Ali, Nithin Senthur Kumar, Eric J. Barth +1Cosserat Rod TheorySoft Robotics

    Department of Computer Science, Vanderbilt University, Nashville, TN 37235, USA · Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA

  51. CoLI: A Reproducible Platform for Continuum Robot Learning via Monolithic 3D Printing and Isomorphic Teleoperation

    Jun 18, 2026Ziyuan Tang, Chenxi Xiao*Soft RoboticsTeleoperation

    School of Information Science and Technology at ShanghaiTech University, Shanghai, China

  52. Shape Sensing of Continuum Robots using Direct Laser Writing

    Jun 17, 2026Amber K. Rothe, Nidhi Malhotra, Jaydev P. DesaiSoft RoboticsRobot Systems

    Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 USA

  53. Selective Unit-Cell Actuation in Lattice Structures for Distributed Morphology in Soft Robots

    Jun 17, 2026Trevor Exley, Altair Coutinho, Lucia BeccaiSoft RoboticsActuator

    Soft BioRobotics Perception Lab of the Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy

  54. Damage Adaptation in Seconds for Architected Materials

    Jun 16, 2026James Avtges, Jake Ketchum, Helena Young +3Soft RoboticsActuator

    Northwestern University, Evanston, IL, USA

  55. TO-SoFiT: Topology Optimization of Hydraulic Soft Fish Tail Design for programmable undulating locomotion

    Jun 14, 2026A Padmaprabhan, Amal Shaji, Prabhat KumarSoft Pneumatic ActuatorsSoft Robotics

    Indian Institute of Technology Hyderabad Telangana, 502285, India

  56. An Autonomous Subgram SMA-Based Swimmer

    Jun 12, 2026Conor K. Trygstad, Francisco M. F. R. Gonçalves, Néstor O. Pérez-ArancibiaUnderwater RobotsSwarms

    School of Mechanical and Materials Engineering, Washington State University (WSU), Pullman, WA 99164, USA

  57. Low cost, easily manufactured, highly flexible strain and touch sensitive fiber for robotics applications

    Jun 11, 2026Christian Diaz Herrera, Srushti Raste, Simin Liu +10Piezoelectric TransducersSoft Robotics

    Patton · Wesleyan University · Computer Science, Department of Mathematics and Computer Science +1

  58. FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning

    Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Ground Reaction ForcesTorque

    Carnegie Mellon University · Waseda University

  59. Learning Control as Enabling Layer for Embodied Intelligence Research explored with Soft Robotic Swimming in diverse Flow Speeds

    Jun 9, 2026Fabian Schwab, Federico Allione, Bingcheng Wang +5Soft RoboticsLearning-Based Control

    1Engineering Sciences Department, Swiss Federal Laboratories for Materials Science and Technology, Switzerland · Institute for NeuroInformatics, University of Zurich, Switzerland · Department of Electronic Engineering, University of Rome Tor Vergata, Italy

  60. Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications

    Jun 9, 2026Brian Van Stratum, James Gallentine, Caleb Rucker +3Soft RoboticsFluid Dynamics

    FAMU/FSU College of Engineering, Tallahassee, FL 323109 · Mechanical Engineering, Vanderbilt University, Nashville Tennessee 37235 · Mechanical Engineering, The University of Tennessee, Knoxville, Tennessee 37996