@inproceedings{bern2022simulation,
  title={Simulation and Fabrication of Soft Robots with Embedded Skeletons},
  author={Bern, James M and Zargarbashi, Fatemeh and Zhang, Annan and Hughes, Josie and Rus, Daniela},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
  pages={5205--5211},
  year={2022},
  organization={IEEE}
}