Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics

13 February 2017

Lakmal Seneviratne

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

45 / 45 papers shown

Title
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 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 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 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 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 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 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 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 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) 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 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 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 Jung-Che Chang Xi Wang D. Axinte Xin Dong 16 1 0 30 Sep 2024
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 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 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 K. Arnavaz Kenny Erleben 49 1 0 11 Apr 2024
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 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 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 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 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 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 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 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 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 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 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 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 Tongjia Zheng Qing Han Hai Lin 61 3 0 10 Mar 2023
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 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 Xinran Wang Nicolás Rojas 121 11 0 22 Apr 2022
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 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 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 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 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 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 Sander Tonkens Joseph Lorenzetti Marco Pavone 73 31 0 04 Nov 2020
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 I. Godage R. Webster I. Walker 49 27 0 06 Jan 2019