Inherent Behavioral Stochasticity in Soft Robots: Analysis and Control Strategies

Abstract The unique composition of soft robots, predominantly constructed from elastomers and polymers, amplifies the likelihood of unpredictability in their performance, setting the stage for significant behavioral stochasticity as compared to their rigid counterparts. In this paper, we present a control-centric perspective on the intrinsic behavioral stochasticity observed in soft robots, exploring the underlying reasons and presenting control methodologies tailored to address the associated challenges. In addition to these challenges, we also provide insights on the potential benefits that the intrinsic behavior of the soft structure can have when they come in contact with unstructural environments. Finally, we discuss the generic control schemes traditionally used with these robots and highlighted potential strategies to alleviate the performance gaps introduced by the inherent unpredictability.