5. More case studies
To test our methods and demonstrate their efficiency to control a soft robot in real time, we have built two versions of a soft trunk-like robot, and shown on three different scenarios the feasibility of our methods. In this section we present other case studies that were only conducted in simulations.
5.1 Pneumatic actuation and self-collisions
In figure 13 we show an example of pneumatic actuation with self-collisions. A soft body with four cavities...
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