A physics-based hybrid model with slack-aware actuation and energy calibration, plus kinematic robustness margins, supports multi-objective gait optimization for speed-power trade-offs in a compliant worm robot.
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Dynamic Modeling and Robust Gait Optimization of a Compliant Worm Robot
A physics-based hybrid model with slack-aware actuation and energy calibration, plus kinematic robustness margins, supports multi-objective gait optimization for speed-power trade-offs in a compliant worm robot.