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Journal Articles Journal of Mechanisms and Robotics Year : 2021

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

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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.
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Dates and versions

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

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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⟩
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