Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Journal of Mechanisms and Robotics Year : 2021

Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach

Abstract

This article investigates the workspace estimation of soft manipulators. Given a configuration of such a soft robot, with the bounded actuators, the discrete Cosserat method is adopted to deduce the mathematical model of soft manipulators, based on which an optimization-based approach is proposed to estimate the workspace. Implemented to various soft manipulators’ configurations, numerical simulations are provided to highlight the feasibility of the proposed methodology.
No file

Dates and versions

hal-03509069 , version 1 (03-01-2022)

Identifiers

Cite

Walid Amehri, Gang Zheng, Alexandre Kruszewski, Federico Renda. Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach. Journal of Mechanisms and Robotics, 2021, 14 (1), ⟨10.1115/1.4051609⟩. ⟨hal-03509069⟩
83 View
0 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More