# Piezoelectric Soft Robot Inchworm Motion by Tuning Ground Friction Through Robot Shape: Quasi-Static Modeling and Experimental Validation

> Research article (IEEE Transactions on Robotics, 2024) · cited 26× · AI/ML

**Wikidata**: [openalex:W4390776933](https://www.wikidata.org/wiki/openalex:W4390776933)  
**Source**: https://4ort.xyz/entity/piezoelectric-soft-robot-inchworm-motion-by-tuning-ground-friction-through-robot-shape-quasi-static-modeling-and-experim