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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