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In a simplified soft-robotic prototype, varying only two geometric parameters generates a broad library of elephant-like postures, suggesting a dual-layer control architecture with implications for continuum robot design and biological hypotheses.
How do elephant trunks generate complex postures without relying solely on fine segmental activation? We propose that part of this complexity arises from a low-dimensional geometric shortcut: dual-helicity coupling between opposite-handed oblique muscles. In a simplified soft-robotic prototype, varying only two geometric parameters generates a broad library of elephant-like postures, suggesting a dual-layer control architecture with implications for continuum robot design and biological hypotheses.
