Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives

Cosserat rod theory proved efficient modeling performances in robotics, especially in the context of continuum robots, in the past decade. The implementation of such theory is far from being unique and straightforward. We consider the illustrative example of multisegment, general routing tendon actu...

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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 39; no. 3; pp. 2360 - 2378
Main Authors: Tummers, Matthias, Lebastard, Vincent, Boyer, Frederic, Troccaz, Jocelyne, Rosa, Benoit, Chikhaoui, M. Taha
Format: Journal Article
Language:English
Published: New York IEEE 01.06.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
and learning for soft robots
Comparative studies
Computer Science
control
Cosserat beams
flexible robots
Indexes
Mathematical models
modeling
Numerical models
Robotics
Robots
Strain
Symbols
tendon/wire mechanism
Tendons
Flexible Robots
Learning for Soft Robots
Cosserat Beams
Control
Tendon/Wire Mechanism
Modeling
ISSN:1552-3098, 1941-0468
Online Access:Get full text
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Summary:Cosserat rod theory proved efficient modeling performances in robotics, especially in the context of continuum robots, in the past decade. The implementation of such theory is far from being unique and straightforward. We consider the illustrative example of multisegment, general routing tendon actuated continuum robots in their nominal static operating regime. This article details two main approaches based on Cosserat rod modeling, namely, the Newtonian and Lagrangian approaches. We provide a walk-through guide regarding theoretical derivations and numerical implementation of both approaches, together with a proof of equivalence. This comparative study is supplemented with novel contributions and extensions of each approach and in-depth discussion of their performances and applicability, as well as highlighting their special features.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2023.3238171