Fabien Candelier

A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation

We propose a novel variable-strain parametrization for soft manipulators, which discretizes the continuous Cosserat rod model onto a finite set of strain basis functions. This approach generalizes the recently proposed piecewise-constant strain method to the case of non-constant strain sections. As