Describing and Analyzing Mechanical Contact for Continuum Robots Using a Shooting-Based Cosserat Rod Implementation

Soft material robotic systems offer inherent safety and flexibility due to their low material stiffness. Therefore, soft material robots are prone to operate in unknown environments and fulfill tasks that involve and even exploit contact with the environment. Moving to the application of soft robots...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 9; H. 2; S. 1668 - 1675
Hauptverfasser:	Wiese, Mats, Berthold, Rebecca, Wangenheim, Matthias, Raatz, Annika
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.02.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	and learning for soft robots Computational efficiency Computational modeling Computing time Contact modeling control Control rods Design optimization Finite element analysis flexible robotics Force control Kinematics Load modeling Mathematical models modeling Modelling Motion planning Robot kinematics Robot learning Robots Simulation Soft robotics Unknown environments
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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