A total Lagrangian, objective and intrinsically locking‐free Petrov–Galerkin SE(3) Cosserat rod finite element formulation
Sign Up to like & getrecommendations! Published in 2023 at "International Journal for Numerical Methods in Engineering"
DOI: 10.1002/nme.7236
Abstract: Based on more than three decades of rod finite element theory, this publication combines the successful contributions found in the literature and eradicates the arising drawbacks like loss of objectivity, locking, path‐dependence and redundant coordinates.… read more here.
Keywords: cosserat rod; rod finite; finite element; petrov galerkin ... See more keywords
Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial
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DOI: 10.1109/access.2021.3077186
Abstract: This article provides a tutorial on the dynamic modeling of continuum robots. Continuum robots (CRs) have gained popularity in recent years due to their flexible backbone structure. Modeling and control of CRs motivate accurate and… read more here.
Keywords: dynamic modeling; continuum robots; rod based; tendon driven ... See more keywords
Physics-Based Modeling of Twisted-and-Coiled Actuators Using Cosserat Rod Theory
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DOI: 10.1109/tro.2021.3104238
Abstract: Twisted and coiled actuators (TCAs) have recently emerged as a promising artificial muscle for various robotic applications because they are strong, low cost, and customizable. To better facilitate the applications, it is critical to establish… read more here.
Keywords: using cosserat; twisted coiled; physics; cosserat rod ... See more keywords
Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2023.3238171
Abstract: Cosserat rod theory proved efficient modeling performances in robotics, especially in the context of continuum robots, in the past decade. The implementation of such theory is far from being unique and straightforward. We consider the… read more here.
Keywords: robotics; cosserat rod; newtonian lagrangian; continuum robots ... See more keywords