TY - JOUR T1 - Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach JF - IEEE Robotics and Automation Letters Y1 - 2019 A1 - C. Della Santina A1 - L. Pallottino A1 - D. Rus A1 - A. Bicchi VL - Volume: 4 , Issue: 3 , July 2019 ER -