Optimizing soft robot design and tracking with and without evolutionary computation: an intensive survey

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dc.authorid0000-0001-6264-8679
dc.contributor.authorStroppa, Fabio
dc.contributor.authorMajeed, Fatimah Jabbar
dc.contributor.authorBatiya, Jana
dc.contributor.authorBaran, Eray
dc.contributor.authorSarac, Mine
dc.date.accessioned2026-04-04T18:55:37Z
dc.date.available2026-04-04T18:55:37Z
dc.date.issued2024
dc.departmentİstanbul Bilgi Üniversitesi
dc.description.abstractSoft robotic devices are designed for applications such as exploration, manipulation, search and rescue, medical surgery, rehabilitation, and assistance. Due to their complex kinematics, various and often hard-to-define degrees of freedom, and nonlinear properties of their material, designing and operating these devices can be quite challenging. Using tools such as optimization methods can improve the efficiency of these devices and help roboticists manufacture the robots they need. In this work, we present an extensive and systematic literature search on the optimization methods used for the mechanical design of soft robots, particularly focusing on literature exploiting evolutionary computation (EC). We completed the search in the IEEE, ACM, Springer, SAGE, Elsevier, MDPI, Scholar, and Scopus databases between 2009 and 2024 using the keywords soft robot, design, and optimization. We categorized our findings in terms of the type of soft robot (i.e., bio-inspired, cable-driven, continuum, fluid-driven, gripper, manipulator, modular), its application (exploration, manipulation, surgery), the optimization metrics (topology, force, locomotion, kinematics, sensors, and energy), and the optimization method (categorized as EC or non-EC methods). After providing a road map of our findings in the state of the art, we offer our observations concerning the implementation of the optimization methods and their advantages. We then conclude our paper with suggestions for future research.
dc.description.sponsorshipTUBIdot;TAK within the scope of the 2232-B International Fellowship for Early Stage Researchers Program [121C145]
dc.description.sponsorshipThis work is funded by TUB & Idot;TAK within the scope of the 2232-B International Fellowship for Early Stage Researchers Program number 121C145.
dc.identifier.doi10.1017/S0263574724001152
dc.identifier.doi10.1017/S0263574724001152
dc.identifier.endpage2884
dc.identifier.issn0263-5747
dc.identifier.issn1469-8668
dc.identifier.issue8
dc.identifier.scopus2-s2.0-85205089279
dc.identifier.scopusqualityQ1
dc.identifier.startpage2848
dc.identifier.urihttps://doi.org/10.1017/S0263574724001152
dc.identifier.urihttps://hdl.handle.net/11411/10488
dc.identifier.volume42
dc.identifier.wosWOS:001316233200001
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherCambridge Univ Press
dc.relation.ispartofRobotica
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_WoS_20260402
dc.snmzKA_Scopus_20260402
dc.subjectDesign
dc.subjectModular Robots
dc.subjectBiomimetic Robots
dc.subjectGrasping
dc.subjectNavigation
dc.subjectNovel Applications Of Robotics
dc.subjectRedundant Manipulators
dc.subjectSerial Manipulator Design And Kinematics
dc.subjectTopological Modeling Of Robots
dc.titleOptimizing soft robot design and tracking with and without evolutionary computation: an intensive survey
dc.typeReview Article

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