Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting with Environment
Inria（法国国家信息与自动化研究所）；university of Lille（里尔大学）；Centrale Lille（里尔中央理工学院）；CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille（里尔信息信号与自动化研究中心）
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge because of the non-linearity of deformation and the non-smooth property of the contacts. In this work, starting from a piece-wise local strain field assumption, we propose a nonlinear dynamic model for soft robot via Cosserat rod theory using Newtonian mechanics which handles the frictional contact with environment and transfer them into the nonlinear complementary constraint (NCP) formulation. Moreover, we smooth both the contact and friction constraints in order to convert the inequality equations of NCP to the smooth equality equations. The proposed model allows us to compute the dynamic deformation and frictional contact force under common optimization framework in real time when the soft slender robot interacts with other rigid or soft bodies. In the end, the corresponding experiments are carried out which valid our proposed dynamic model.
Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator
Inria（法国国家信息与自动化研究所）；University of Lille（里尔大学）；Centrale Lille（里尔中央理工学院）；CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille - UMR 9189（里尔计算机、信号与自动化研究中心（UMR 9189））
A physics-informed, vision-based method to reconstruct all deformation modes in slender bodies
School of Electrical and Computer Engineering（电气与计算机工程学院）；Georgia Institute of Technology（佐治亚理工学院）；Twentieth Century Fox（二十世纪福克斯）；Starfleet Academy（星际舰队学院）；Tyrell Inc.（泰勒尔公司）
Coordinated Science Laboratory（协调科学实验室）；National Center for Supercomputing Applications（国家超级计算应用中心）；Carl R. Woese Institute for Genomic Biology（卡尔·R·沃斯基因组生物学研究所）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Adaptive actuation of magnetic soft robots using deep reinforcement learning
Wuhan National High Magnetic Field Center, Huazhong University of Science and Technology（华中科技大学武汉国家强磁场中心）；State Key Laboratory of Advanced Electromagnetic Engineering and Technology, Huazhong University of Science and Technology（华中科技大学强电磁工程与新技术国家重点实验室）
Adaptive Model-Predictive Control of a Soft Continuum Robot Using a Physics-Informed Neural Network Based on Cosserat Rod Theory
Institute of Mechatronic Systems, Leibniz University Hannover（机械系统研究所，汉诺威莱布尼茨大学）；Department of Advanced Interdisciplinary Studies, The University of Tokyo（先进跨学科研究部，东京大学）；Institute of Assembly Technology and Robotics, Leibniz University of Hannover（组装技术与机器人研究所，汉诺威莱布尼茨大学）
Performance and Experimental Analysis of Strain-based Models for Continuum Robots
Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genova（机械、能源、管理与交通工程系（DIME），热那亚大学）；Institute of Robotics, Johannes Kepler University (JKU) Linz（机器人研究所，约瑟夫·胡贝尔大学（JKU）林茨）
Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling
Mechatronics, Robotics and Operation Section, European Organization for Nuclear Research (CERN)（欧洲核子研究组织（CERN）机电学、机器人学与操作部门）；Department of Aeronautics and Astronautics, University of Washington（华盛顿大学航空与航天系）；Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU)（挪威科学技术大学（NTNU）工程 cybernetics 部门）
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Coordinated Science Laboratory（协调科学实验室）；National Center for Supercomputing Applications（国家超级计算应用中心）；Carl R. Woese Institute for Genomic Biology（卡尔·R·沃斯基因组生物学研究所）
