2016
Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator
Lukas Lindenroth, Junghwan Back, Adrian Schoisengeier, Yohan Noh, Helge Würdemann, Kaspar Althoefer +1
IROS 2016poster
This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipul…