A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2985620
Abstract: We propose a novel variable-strain parametrization for soft manipulators, which discretizes the continuous Cosserat rod model onto a finite set of strain basis functions. This approach generalizes the recently proposed piecewise-constant strain method to the… read more here.
Keywords: variable strain; tendon fluidic; soft manipulators; approach ... See more keywords
Shape Reconstruction of Soft Manipulators Using Vision and IMU Feedback
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191523
Abstract: In recent times, soft manipulators have gardened immense interest given their dexterous abilities. A critical aspect for their feedback control involves the reconstruction of the manipulator shape. The research, for the first time, presents shape… read more here.
Keywords: shape reconstruction; manipulator; reconstruction; soft manipulators ... See more keywords