Discrete Cosserat Method for Soft Manipulators ...
Type de document :
Compte-rendu et recension critique d'ouvrage
DOI :
Titre :
Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach
Auteur(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
Titre de la revue :
Journal of Mechanisms and Robotics
Éditeur :
American Society of Mechanical Engineers
Date de publication :
2021-09-01
ISSN :
1942-4302
Discipline(s) HAL :
Informatique [cs]/Robotique [cs.RO]
Résumé en anglais : [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 ...
Lire la suite >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.Lire moins >
Lire la suite >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.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :