@article{remy2023fluid, title={The Fluid Jacobian: Modeling force-motion relationships in fluid-driven soft robots}, author={Remy, C David and Brei, Zachary and Bruder, Daniel and Remy, Jan and Buffinton, Keith and Gillespie, R Brent}, journal={The International Journal of Robotics Research}, pages={02783649231210592}, year={2023}, publisher={SAGE Publications Sage UK: London, England} }