Introduction

Abstract

Soft robotics is an emerging field that seeks to replace traditional (rigid) robotic components with flexible sensors and actuators that achieve greater flexibility and degrees of freedom. Bioinspired soft robotics seek to emulate the diverse capabilities of natural systems such as an elephant trunk or octopus arm through novel architectures, materials, and control designs. This book focuses on soft robotic systems that are designed to operate underwater. It includes representative research from the state of the art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and sea star. It contains a comprehensive snapshot of state-of-the-art advances in bioinspired soft robotics with tutorial and original content reinforcing the book’s subject. The chapters of the book explore the following themes: mechanisms and motion, materials and muscles, biological analysis and design, and modeling and control.