Previous knowledge on programming, materials and control engineering are recommended.

By the end of this subject, students will be able to have: 1. A systematic understanding of the key aspects and concepts of the modeling and control of soft robots. 2. Coherent knowledge of their branch of engineering including some at the forefront of the branch in robotics engineering. 3. The ability to apply their knowledge and understanding of robotics engineering to identify, formulate and solve problems related to soft robotics. 4. The ability to apply their knowledge and understanding to develop and realise designs of soft robots, including their modeling and control. 5. An understanding of modeling and control methods for soft robots, and an ability to use them. 6. Workshop and laboratory skills to implement controllers in real soft robotic platforms. 7. The ability to select and use appropriate equipment, tools and methods for the modeling and control of soft robots. 8. The ability to combine theory and practice to solve problems related to modeling and control of soft robots. 9. An understanding of applicable techniques and methods in soft robotics, and of their limitations.

1. Introduction to soft robotics 1.1. Introduction 1.2. Examples of soft robots 1.3. Soft robotics vs hard robotics 2. Soft robot components 2.1. Structural body 2.2. Soft smart sensors 2.3. Soft smart actuators 3. Soft robot modeling 3.1. Analytical models 3.2. Data-driven models 4. Soft robot control 4.1. Control specifications 4.2. Control approaches in the time and frequency domain 5. Case studies 5.1. Experimental testing and identification of soft materials 5.2. Experimental control of soft robots

This course is composed of different activities: 1. Lectures. Main concepts (explanation and discussion). Different units in slides with the theoretical concepts. 2. Seminars. Various problems will be proposed for each unit and the students will proposed and discuss their solutions. 3. Lab sessions. Two practices will be done: 1) testing and identification of a soft smart material; 2) control of a soft robot.