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    Gait study and pattern generation of a starfish-like soft robot with flexible rays actuated by SMAs

    This paper presents the design and development of a starfish-like soft robot with flexible rays and the implementation of multi-gait locomotion using Shape Memory Alloy (SMA) actuators. The design principle wa...

    Shixin Mao, Erbao Dong, Hu **, Min Xu, Shiwu Zhang… in Journal of Bionic Engineering (2014)