An overview of the configuration and manipulation of soft robotics for on-orbit servicing

Soft robots refer to robots that are softer and more flexible when compared with conventional rigid-bodied robots. Soft robots are adapted to unstructured environments due to their flexibility, deformability and energy-absorbing properties. Thus, they have tremendous application prospects in on-orbit servicing (OOS). This study discusses the configuration and manipulation of soft robotics. Usually, learning from living beings is used to develop the configurations of most soft robots. In this study, typical soft robots are introduced based on what they mimic. The discussion of manipulation is divided into two parts, namely actuation and control. The study also involves describing and comparing several types of actuations. Studies on the control of soft robots are also reviewed. In this study, potential application of soft robotics for on-orbit servicing is analyzed. A hybrid configuration and manipulation of space soft robots for future research are proposed based on the current development of soft robotics, and some challenges are discussed.