A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation
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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