4 accepted papers
Cosserat rod models are widely used to simulate, design, and control soft robots. The Cosserat framework accounts for bending, torsion, transverse shear, and elongation of a long, slender structure and correctly handles large rotations and deflections in 3D, while being far less computationally expe…
Cosserat rod models are widely used to simulate, design, and control soft robots. The Cosserat framework accounts for bending, torsion, transverse shear, and elongation of a long, slender structure and correctly handles large rotations and deflections in 3D, while being far less computationally expe
Continuum robots can be slender and flexible to navigate through complex environments, such as passageways in the human body. In order to control the forces that continuum robots apply during navigation and manipulation, we would like to detect the location, direction, and magnitude of contact force
Underactuation is a core challenge associated with controlling soft and continuum robots, which possess theoreti-cally infinite degrees of freedom, but few actuators. However, mm actuators may still be used to control a dynamic soft robot in an m-dimensional output task space. In this paper we devel…