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First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all of the unknown components of the system; these are the soft manipulator, its distributed fluidic elastomer actuators, as well as the drive cylinders that supply fluid energy. Next, using this model and trajectory-optimization techniques we find locally-optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. Last, we introduce the idea of static bracing for a soft elastomer arm and discuss how forming environmental braces might be an effective manipulation strategy for this class of robots. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.<\/jats:p>","DOI":"10.1177\/0278364915587926","type":"journal-article","created":{"date-parts":[[2015,8,21]],"date-time":"2015-08-21T21:50:24Z","timestamp":1440193824000},"page":"1000-1019","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":174,"title":["Dynamics and trajectory optimization for a soft spatial fluidic elastomer           manipulator"],"prefix":"10.1177","volume":"35","author":[{"given":"Andrew D.","family":"Marchese","sequence":"first","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory,\r          Massachusetts Institute of Technology, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Russ","family":"Tedrake","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory,\r          Massachusetts Institute of Technology, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniela","family":"Rus","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory,\r          Massachusetts Institute of Technology, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2015,8,21]]},"reference":[{"key":"bibr1-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-9882-4_20"},{"key":"bibr2-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.906248"},{"key":"bibr3-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2010.5625959"},{"key":"bibr4-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/6\/3\/036002"},{"key":"bibr5-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282129"},{"key":"bibr6-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1163\/156855395X00175"},{"key":"bibr7-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/70.478427"},{"key":"bibr8-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696866"},{"key":"bibr9-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-28572-1_16"},{"key":"bibr10-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630851"},{"key":"bibr11-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.812829"},{"key":"bibr12-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014759"},{"key":"bibr13-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10070"},{"key":"bibr14-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.861458"},{"key":"bibr15-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.886268"},{"key":"bibr16-0278364915587926","first-page":"In Press","volume-title":"International symposium on experimental robotics","author":"Katzschmann RK","year":"2014"},{"key":"bibr17-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1163\/156855312X626343"},{"key":"bibr18-0278364915587926","first-page":"2362","volume-title":"Proceedings of the 1994 IEEE international conference on robotics and automation","volume":"3","author":"Lew JY","year":"1994"},{"key":"bibr19-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/ICDMA.2010.158"},{"key":"bibr20-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0011"},{"key":"bibr21-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642051"},{"key":"bibr22-0278364915587926","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545487"},{"key":"bibr23-0278364915587926","doi-asserted-by":"crossref","unstructured":"Marchese AD, Rus D (2015) Design, kinematics, and control of a             soft spatial fluidic elastomer manipulator. 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