Julien Bosman

Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras

This paper presents a development of a new method dedicated to the modeling and control of Continuum Robots, based on the Finite Element Method (FEM) using quasi-static assumption. The modeling relies on a discretization of the continuum robots using 6 DoFs Frames along the structure of the robot th…