Preprint Open access
Embodied Snap: Octopus-Inspired Distributed Reach-and-Attach with a Speed-Limited Soft Arm
Reach-and-attach of soft robotic arms with passive suction requires accurate targeting and sufficient contact speed, yet geared actuators can impose a speed limit that improved trajectory tracking alone cannot overcome. This paper proposes an embodied snap controller that separates slow servo-driven preloading from rap …