Inverse kinematics of soft robots
Inverse kinematics of soft robots in their environment

From equation  (12) in quasi-statics, the problem has two unknowns: dx , which provides the motion of the degrees of freedom, and λ, which is the vector of intensity of the actuators and contact forces. Consequently, the solving process will be executed in two steps.

The first step consists in obtaining a free configuration, x ^free , of the robot that is found by solving equation