Ludovic Renson

Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators

A reliable, accurate, and yet simple dynamic model is important to analyze, design and control continuum manipulators. Such models should be fast, as simple as possible and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeli…