Advances in dynamic modeling and simulation of soft machines

Soft machines are a sort of mechanical systems mainly composed of soft materials and soft structures. Its soft compliance enables motion of large deformation, which results in a series of functionalities that traditional machines are not capable to achieve and the possibility to interact closely with humans. Therefore, soft machines are not only important complement to artificial machines but also a fascinating branch in future development of advanced machines. Mechanical modeling and analysis offer essential ways to designing and manufacturing soft machines. Dynamic modeling and simulation become increasingly effective and necessary for systematic design and motion control. This paper reviews and analyzes advances in dynamic modeling and simulation of soft machines. First, recent developments are overviewed from five aspects, namely kinematics, modeling of soft material, contact dynamics of flexible bodies, efficient computation of transient dynamics, and dynamic control. Second, problems and challenges are discussed. Several balances in the research of dynamics of soft machines are proposed. Third, potential directions in future research are predicted according to the current developments and challenges. Summary and prospects on dynamics and control of soft machines are given.