Analysis of Soft Robotics Based on the Concept of Category of Mobility

Figure 2

Mathematical understanding of the difference between hard and soft robotics. (a) Isomorphisms describe the underlying principle to describe hard robots: a coherent one-to-one correspondence between the state and transitivity of states of the composite system and robots during interaction. (b) On the other hand, categorical equivalences represent the architecture of soft robots: abundant degrees of freedom or versatile possibilities are accommodated during interaction.

(a)

(b)