Coupling Numerical Deformable Models in Global and Reduced Coordinates for the Simulation of the Direct and the Inverse Kinematics of Soft Robots
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3061977
Abstract: In this letter, we propose a method to combine the Finite Element Method (FEM) with Discrete Cosserat Modeling (DCM) to capture the mechanics and the actuation of soft robots. The FEM is used to simulate… read more here.
Keywords: direct inverse; coupling numerical; soft robots; numerical deformable ... See more keywords