Vincent Aloi

Cosserat Rods with Cross-Sectional Deformation for Soft Robot Modeling

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…