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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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
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Abstract	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.
AbstractList	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. 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 multi-segment, general routing tendon actuated continuum robots in their nominal static operating regime. This paper 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.
Author	Boyer, Frederic Chikhaoui, M. Taha Troccaz, Jocelyne Lebastard, Vincent Rosa, Benoit Tummers, Matthias
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SubjectTerms	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
Title	Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives
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