Terrestrial Soft Mobile Robots: A Review
A comprehensive review of soft mobile robots focusing on wheelless terrestrial locomotion, covering strategies, actuation, modeling, and control, while identifying key challenges.
[2605.20304] Terrestrial Soft Mobile Robots: A Review
[Submitted on 19 May 2026]
Title:Terrestrial Soft Mobile Robots: A Review
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Abstract:Soft mobile robots have emerged as a promising area of research with potential applications in various disciplines including but not limited to search-and-rescue, service, surveillance, explorations, and manufacturing. In this article, we provide a comprehensive review of the current state of soft mobile robot research, focusing on wheelless terrestrial locomotive systems. We include past and present developments in locomotion strategies, actuation methods, modeling approaches, and control systems. Further, we identify key research challenges that must be overcome to enable the widespread adoption of soft mobile robots in various applications. Overall, this article provides a valuable resource for researchers and practitioners interested in the field of soft mobile robots and soft robotics.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.20304 [cs.RO]
(or arXiv:2605.20304v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.20304
arXiv-issued DOI via DataCite
Submission history
From: Dimuthu Kodippili Arachchige [view email] [v1] Tue, 19 May 2026 13:41:20 UTC (6,800 KB)
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