doi:10.1371/journal.pone.0192052engChenevier, J.Gonzalez, D.Aguado, J.V.Chinesta, F.Cueto, E.Reduced-order modeling of soft robotsART-2018-104924We present a general strategy for the modeling and simulation-based control of soft robots. Although the presented methodology is completely general, we restrict ourselves to the analysis of a model robot made of hyperelastic materials and actuated by cables or tendons. To comply with the stringent real-time constraints imposed by control algorithms, a reduced-order modeling strategy is proposed that allows to minimize the amount of online CPU cost. Instead, an offline training procedure is proposed that allows to determine a sort of response surface that characterizes the response of the robot. Contrarily to existing strategies, the proposed methodology allows for a fully non-linear modeling of the soft material in a hyperelastic setting as well as a fully non-linear kinematic description of the movement without any restriction nor simplifying assumption. Examples of different configurations of the robot were analyzed that show the appeal of the method.2018http://zaguan.unizar.es/record/6977810.1371/journal.pone.0192052http://zaguan.unizar.es/record/69778oai:zaguan.unizar.es:69778info:eu-repo/grantAgreement/ES/CICYT/DPI2014-51844-C2-1-Rinfo:eu-repo/grantAgreement/ES/MINECO/DPI2015-72365-EXPPloS one 13, 2 (2018), e0192052[15 pp]byhttp://creativecommons.org/licenses/by/3.0/es/info:eu-repo/semantics/openAccess