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Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics

Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics

13 February 2017
F. Renda
F. Boyer
Jorge Dias
Lakmal Seneviratne
ArXiv (abs)PDFHTML

Papers citing "Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics"

45 / 45 papers shown
Title
Estimating Dynamic Soft Continuum Robot States From Boundaries
Estimating Dynamic Soft Continuum Robot States From Boundaries
Tongjia Zheng
Jessica Burgner-Kahrs
184
0
0
07 May 2025
Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
Kiwan Wong
Maximilian Stolzle
Wei Xiao
Cosimo Della Santina
Daniela Rus
Gioele Zardini
33
0
0
05 May 2025
Soft yet Effective Robots via Holistic Co-Design
Soft yet Effective Robots via Holistic Co-Design
Maximilian Stolzle
Niccolò Pagliarani
F. Stella
Josie Hughes
Cecilia Laschi
Daniela Rus
M. Cianchetti
Cosimo Della Santina
Gioele Zardini
96
1
0
20 Apr 2025
Toward Dynamic Control of Tendon-Driven Continuum Robots using Clarke Transform
Toward Dynamic Control of Tendon-Driven Continuum Robots using Clarke Transform
Christian Muhmann
R. Grassmann
Max Bartholdt
J. Burgner-Kahrs
88
0
0
26 Mar 2025
Modeling, Embedded Control and Design of Soft Robots using a Learned Condensed FEM Model
Modeling, Embedded Control and Design of Soft Robots using a Learned Condensed FEM Model
Etienne Ménager
Tanguy Navez
Paul Chaillou
O. Goury
Alexandre Kruszewski
Christian Duriez
AI4CE
160
1
0
19 Mar 2025
SoFFT: Spatial Fourier Transform for Modeling Continuum Soft Robots
Daniele Caradonna
Diego Bianchi
Franco Angelini
Egidio Falotico
80
0
0
24 Feb 2025
Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
Ricardo Valadas
Maximilian Stolzle
Jingyue Liu
Cosimo Della Santina
115
1
0
21 Feb 2025
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
Abdulaziz Alkayas
A. Mathew
Daniel Feliú Talegon
Ping Deng
T. G. Thuruthel
F. Renda
132
4
0
20 Feb 2025
Real-Time Trajectory Generation for Soft Robot Manipulators Using
  Differential Flatness
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
Akua Dickson
Juan C. Pacheco Garcia
R. Jing
M. L. Anderson
Andrew P. Sabelhaus
86
1
0
11 Dec 2024
A Fast and Model Based Approach for Evaluating Task-Competence of Antagonistic Continuum Arms
A Fast and Model Based Approach for Evaluating Task-Competence of Antagonistic Continuum Arms
Bill Fan
Jacob Roulier
G. Olson
79
0
0
31 Oct 2024
Quasi-Static Continuum Model of Octopus-Like Soft Robot Arm Under Water
  Actuated by Twisted and Coiled Artificial Muscles (TCAMs)
Quasi-Static Continuum Model of Octopus-Like Soft Robot Arm Under Water Actuated by Twisted and Coiled Artificial Muscles (TCAMs)
A. F. Golestaneh
V. Cichella
Caterina Lamuta
33
0
0
20 Oct 2024
Viscoelasticity Estimation of Sports Prosthesis by Energy-minimizing
  Inverse Kinematics and Its Validation by Forward Dynamics
Viscoelasticity Estimation of Sports Prosthesis by Energy-minimizing Inverse Kinematics and Its Validation by Forward Dynamics
Yuta Shimane
Taiki Ishigaki
Sunghee Kim
Ko Yamamoto
14
1
0
08 Oct 2024
Learning-Based Autonomous Navigation, Benchmark Environments and
  Simulation Framework for Endovascular Interventions
Learning-Based Autonomous Navigation, Benchmark Environments and Simulation Framework for Endovascular Interventions
Lennart Karstensen
Harry Robertshaw
Johannes Hatzl
Benjamin Jackson
Jens Langejürgen
...
Christian Uhl
S. M. Hadi Sadati
Thomas C Booth
Christos Bergeles
Franziska Mathis-Ullrich
55
4
0
02 Oct 2024
Design, manufacturing, and inverse dynamic modeling of soft parallel
  robots actuated by dielectric elastomer actuators
Design, manufacturing, and inverse dynamic modeling of soft parallel robots actuated by dielectric elastomer actuators
Jung-Che Chang
Xi Wang
D. Axinte
Xin Dong
16
1
0
30 Sep 2024
Clarke Transform -- A Fundamental Tool for Continuum Robotics
Clarke Transform -- A Fundamental Tool for Continuum Robotics
R. Grassmann
Anastasiia Senyk
J. Burgner-Kahrs
37
5
0
24 Sep 2024
Data-driven Model Reduction for Soft Robots via Lagrangian Operator
  Inference
Data-driven Model Reduction for Soft Robots via Lagrangian Operator Inference
Harsh Sharma
Iman Adibnazari
Jacobo Cervera-Torralba
M. Tolley
Boris Kramer
70
0
0
11 Jul 2024
Rod models in continuum and soft robot control: a review
Rod models in continuum and soft robot control: a review
Carlo Alessi
Camilla Agabiti
Daniele Caradonna
Cecilia Laschi
F. Renda
Egidio Falotico
AI4CE
67
6
0
08 Jul 2024
Differentiable Rendering as a Way to Program Cable-Driven Soft Robots
Differentiable Rendering as a Way to Program Cable-Driven Soft Robots
K. Arnavaz
Kenny Erleben
49
1
0
11 Apr 2024
Resilient Movement Planning for Continuum Robots
Resilient Movement Planning for Continuum Robots
Oxana Shamilyan
I. Kabin
Z. Dyka
Peter Langendoerfer
25
1
0
09 Apr 2024
Intelligence and Motion Models of Continuum Robots: an Overview
Intelligence and Motion Models of Continuum Robots: an Overview
Oxana Shamilyan
I. Kabin
Z. Dyka
O. Sudakov
A. Cherninskyi
M. Brzozowski
Peter Langendoerfer
44
9
0
09 Apr 2024
Distributed Artificial Intelligence as a Means to Achieve
  Self-X-Functions for Increasing Resilience: the First Steps
Distributed Artificial Intelligence as a Means to Achieve Self-X-Functions for Increasing Resilience: the First Steps
Oxana Shamilyan
I. Kabin
Z. Dyka
Peter Langendoerfer
AI4CE
23
3
0
09 Apr 2024
Cosserat Rod Modeling and Validation for a Soft Continuum Robot with
  Self-Controllable Variable Curvature
Cosserat Rod Modeling and Validation for a Soft Continuum Robot with Self-Controllable Variable Curvature
Xinran Wang
Nicolás Rojas
46
2
0
19 Feb 2024
A Novel and Accurate BiLSTM Configuration Controller for Modular Soft
  Robots with Module Number Adaptability
A Novel and Accurate BiLSTM Configuration Controller for Modular Soft Robots with Module Number Adaptability
Zixiao Chen
Matteo Bernabei
Vanessa Mainardi
Xuyang Ren
G. Ciuti
Cesare Stefanini
44
4
0
19 Jan 2024
Design and Nonlinear Modeling of a Modular Cable Driven Soft Robotic Arm
Design and Nonlinear Modeling of a Modular Cable Driven Soft Robotic Arm
Xinda Qi
Yu Mei
Dong Chen
Zhao Li
Xiaobo Tan
22
1
0
12 Jan 2024
Lagrangian Properties and Control of Soft Robots Modeled with Discrete
  Cosserat Rods
Lagrangian Properties and Control of Soft Robots Modeled with Discrete Cosserat Rods
Lekan Molu
Shaoru Chen
Audrey Sedal
62
1
0
10 Dec 2023
An Experimental Study of Model-based Control for Planar Handed Shearing
  Auxetics Robots
An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots
Maximilian Stolzle
Daniela Rus
Cosimo Della Santina
50
7
0
21 Oct 2023
Direct and inverse modeling of soft robots by learning a condensed FEM
  model
Direct and inverse modeling of soft robots by learning a condensed FEM model
Etienne Ménager
Tanguy Navez
O. Goury
Christian Duriez
AI4CE
52
7
0
21 Jul 2023
Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting
  with Environment
Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting with Environment
Lingxiao Xun
Gang Zheng
A. Kruszewski
52
10
0
12 Jul 2023
An Efficient Multi-solution Solver for the Inverse Kinematics of
  3-Section Constant-Curvature Robots
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Ke Qiu
Jingyu Zhang
Danying Sun
R. Xiong
Haojian Lu
Yue Wang
129
5
0
02 May 2023
Theoretical Model Construction of Deformation-Force for Soft Grippers
  Part II: Displacement Control Based Intrinsic Force Sensing
Theoretical Model Construction of Deformation-Force for Soft Grippers Part II: Displacement Control Based Intrinsic Force Sensing
Huixu Dong
Ziyi Zheng
Haotian Guo
Si-wei Yang
Chen Qiu
Jiansheng Dai
I. Chen
21
1
0
22 Mar 2023
Full State Estimation of Continuum Robots From Tip Velocities: A
  Cosserat-Theoretic Boundary Observer
Full State Estimation of Continuum Robots From Tip Velocities: A Cosserat-Theoretic Boundary Observer
Tongjia Zheng
Qing Han
Hai Lin
61
3
0
10 Mar 2023
Koopman Operators for Modeling and Control of Soft Robotics
Koopman Operators for Modeling and Control of Soft Robotics
Lu Shi
Zhichao Liu
Konstantinos Karydis
101
20
0
23 Jan 2023
Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator
Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator
Haihong Li
Lingxiao Xun
Gang Zheng
35
23
0
07 Jun 2022
A Data-Efficient Model-Based Learning Framework for the Closed-Loop
  Control of Continuum Robots
A Data-Efficient Model-Based Learning Framework for the Closed-Loop Control of Continuum Robots
Xinran Wang
Nicolás Rojas
121
11
0
22 Apr 2022
PDE-based Dynamic Control and Estimation of Soft Robotic Arms
PDE-based Dynamic Control and Estimation of Soft Robotic Arms
Tongjia Zheng
Hai Lin
139
9
0
25 Mar 2022
Control of a Soft Robotic Arm Using a Piecewise Universal Joint Model
Zhanchi Wang
Gaotian Wang
Xiaoping Chen
N. Freris
15
0
0
05 Jan 2022
Soft Robots Modeling: a Structured Overview
Soft Robots Modeling: a Structured Overview
C. Armanini
F. Boyer
A. Mathew
Christian Duriez
F. Renda
76
156
0
07 Dec 2021
Model Based Control of Soft Robots: A Survey of the State of the Art and
  Open Challenges
Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges
Cosimo Della Santina
Christian Duriez
Daniela Rus
AI4CE
82
212
0
04 Oct 2021
Unified Kinematic and Dynamical Modeling of a Soft Robotic Arm by a Piecewise Universal Joint Model
Zhanchi Wang
Gaotian Wang
N. Freris
16
1
0
13 Sep 2021
Accelerating Second-Order Differential Dynamic Programming for
  Rigid-Body Systems
Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems
John N. Nganga
Patrick M. Wensing
61
22
0
04 Mar 2021
Control and implementation of fluid-driven soft gripper with dynamic
  uncertainty of object
Control and implementation of fluid-driven soft gripper with dynamic uncertainty of object
A. Alian
M. Zareinejad
H. Talebi
9
0
0
21 Nov 2020
Adaptive Tracking Control of Soft Robots using Integrated Sensing Skin
  and Recurrent Neural Networks
Adaptive Tracking Control of Soft Robots using Integrated Sensing Skin and Recurrent Neural Networks
Lasitha Weerakoon
Z. Ye
Rahul S. Bama
E. Smela
Miao Yu
Nikhil Chopra
16
4
0
17 Nov 2020
Soft Robot Optimal Control Via Reduced Order Finite Element Models
Soft Robot Optimal Control Via Reduced Order Finite Element Models
Sander Tonkens
Joseph Lorenzetti
Marco Pavone
73
31
0
04 Nov 2020
Solving Cosserat Rod Models via Collocation and the Magnus Expansion
Solving Cosserat Rod Models via Collocation and the Magnus Expansion
A. Orekhov
Nabil Simaan
58
28
0
03 Aug 2020
Center of Gravity-based Approach for Modeling Dynamics of Multisection
  Continuum Arms
Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms
I. Godage
R. Webster
I. Walker
49
27
0
06 Jan 2019
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