Discrete Cosserat Method for Soft Manipulators ...
Document type :
Article dans une revue scientifique: Article original
DOI :
Title :
Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach
Author(s) :
Amehri, Walid [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Zheng, Gang [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]
Centrale Lille
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Renda, Federico [Auteur]
Khalifa University
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Zheng, Gang [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Kruszewski, Alexandre [Auteur]

Centrale Lille
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST ]
Renda, Federico [Auteur]
Khalifa University
Journal title :
Journal of Mechanisms and Robotics
Publisher :
American Society of Mechanical Engineers
Publication date :
2021-09-01
ISSN :
1942-4302
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
English abstract : [en]
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 ...
Show more >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.Show less >
Show more >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.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Collections :
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