Dynamic Modeling and Model-Based Control of Soft Robots

Dear Colleagues,

The development of dynamic models and control strategies for soft robotic systems remains a central challenge due to their continuum structure, material nonlinearity, and actuator compliance. Unlike rigid robots, soft robots require dynamic models derived from first principles, often rooted in Cosserat rod theory, piecewise constant curvature (PCC) models, or finite-dimensional strain parameterizations. Such modeling approaches enable the derivation of simplified but physically grounded representations that support the analysis and control of these systems.

The control of soft robots presents additional complexity due to underactuation, distributed compliance, and coupled actuation–structure dynamics. Classical methods often fall short in handling these features; however, recent advances have introduced model-based frameworks that incorporate energy-based methods, passivity principles, and Lyapunov-based formulations to address these challenges. Particular attention has been paid to strategies that incorporate safety constraints, boundary feedback, and control under limited sensing and actuation capabilities.

This Special Issue invites original research and review articles focused on model-based approaches that explicitly link dynamic modeling to control design. We seek contributions that demonstrate how modeling tools are used to derive feedback laws for soft robots, including pneumatic, tendon-driven, and hybrid architectures.

Areas of interest include, but are not limited to, the following topics:

• Cosserat rod models of soft robotics;
• Piecewise constant curvature (PCC) modeling;
• Strain-based parameterizations and configuration mapping;
• Finite-dimensional approximations of continuum dynamics;
• Structure-preserving model reduction techniques;
• Dynamic models with integrated actuator behavior;
• Safety-guaranteed control under physical constraints;
• Lyapunov-based control of soft robots;
• Passivity-based and energy-shaping control;
• Boundary feedback and distributed input strategies;
• Safe control and constraint enforcement in soft systems;
• The control of underactuated compliant robots;
• The modeling and control of hybrid rigid–soft systems;
• Learning-enhanced model-based control (e.g., combining data-driven updates with physics-based models);
• Real-time control under uncertainty;
• Embedded sensing and estimation for feedback control;
• Biodegradable and eco-friendly soft robots (related to sustainability, especially for medical/disposable use);
• Human–robot interaction with soft systems, including safety-guaranteed collaboration;
• Hybrid model–data control or adaptive control under model uncertainty.

Dr. Hamed Rahimi Nohooji
Guest Editor

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Robotics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

• soft robotics
• dynamic modeling
• Cosserat rods
• PCC models
• strain-based methods
• model reduction
• actuator dynamics
• Lyapunov control
• passivity-based control
• safe control
• hybrid soft–rigid systems