Contents I. Introduction
In recent years, soft robots have garnered increased research interest due to their inherent adaptability compared to rigid counterparts. The primary actuation methods for soft robots encompass fluid-based systems, shape memory alloy actuators, and electroactive polymer actuators [1–3]. Among these, fluid-driven actuators stand out as the most adaptable to their environment. They typically employ soft materials, such as silicone paste, utilizing embedded channels that expand under fluid pressure. These channels come in three distinct structures: hollow, ribbed, and seamless corrugated types [1]. Some actuators incorporate non-flexible layers and fibers to achieve specific movements, like bending or twisting in predefined directions. Through a lens of robotics engineering, one can discern a prevalent trend in recent research, which centers predominantly on the domain of pneumatic bending soft robots. In addition to advancing innovative methodologies for crafting flexible actuators, there’s a notable surge in scholarly attention directed toward elucidating the dynamic behaviors of these soft robotic systems. Researchers are increasingly intrigued by the intricate dynamics governing the motion and functionality of such robots, a captivating realm that continues to captivate our scientific community.
