Active Tip Trajectory Control in Zig-Zag Soft Actuators using Modular Strain-Limiting Layers with Phase-Changing Inclusions. - P. D. S. H. Gunawardane; G. E. Zesiro; P. Cheung; Hao Zhou 018; Gürsel Alici; Mu Chiao (RoboSoft, 2025)