# Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs

> Research article (2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4313116302](https://www.wikidata.org/wiki/openalex:W4313116302)  
**Source**: https://4ort.xyz/entity/planar-modeling-and-sim-to-real-of-a-tethered-multimaterial-soft-swimmer-driven-by-peano-hasels