biomimetics Review Capability by Stacking: The Current Design Heuristic for Soft Robots Stephen T. Mahon 1 ID , Jamie O. Roberts 1,2, Mohammed E. Sayed 1, Derek Ho-Tak Chun 1,2 ID , Simona Aracri 1, Ross M. McKenzie 1,2, Markus P. Nemitz 1,3 and Adam A. Stokes 1,* 1 School of Engineering, The Institute for Integrated Micro and Nano Systems, The University of Edinburgh, The King’s Buildings, Edinburgh EH9 3LJ, UK;
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[email protected] (M.P.N.) 2 Engineering and Physical Sciences Research Council (EPSRC) Centre for Doctoral Training (CDT) in Robotics and Autonomous Systems, School of Informatics, The University of Edinburgh, Edinburgh EH9 3LJ, UK 3 Department of Computer Science and Engineering, University of Michigan, 2260 Hayward St. BBB3737, Ann Arbor, MI 48109, USA * Correspondence:
[email protected]; Tel.: +44-131-650-5611 Received: 1 June 2018; Accepted: 10 July 2018; Published: 13 July 2018 Abstract: Soft robots are a new class of systems being developed and studied by robotics scientists. These systems have a diverse range of applications including sub-sea manipulation and rehabilitative robotics. In their current state of development, the prevalent paradigm for the control architecture in these systems is a one-to-one mapping of controller outputs to actuators.