Geometrically Exact Models for Soft Robotic Manipulators

By Deepak Trivedi, Amir Lotfi, Christopher D. Rahn. IEEE Transactions on robotics, 2008

404 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/92cfee675015a2e53d1cf19a0bf8d2efae45be78

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

Soft Manipulators and Grippers: A Review (2016, background): “Approaches to develop models which are geometrically exact have also been developed, taking into account non-linearities and distributed weight and payload (Trivedi et al., 2008).”
Soft robotics: Technologies and systems pushing the boundaries of robot abilities (2016, background): “(13), soft robots are distinct from traditional robots, which have rigid links, and serpentine robots, which have a large number of short rigid links and degrees of freedom: Thus, soft robotics has primarily involved construction from soft materials and intentionally compliant structures.”
Dynamic Model of a Multibending Soft Robot Arm Driven by Cables (2014, background): “The state of the art on Cosserat geometrically exact models for soft robot arms has been limited so far to static analysis [17], [19], [22], [23] or to the theoretical presentation of dynamic cases, without performing simulations or experimental comparisons [16], [18], [20] and without considering e”
Design and Control of Concentric-Tube Robots (2010, methodology): “We can obtain such an expression from the equilibrium equation of the special Cosserat rod model [18]–[20].”
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading (2011, background): “Recent models that account for both have been derived for continuum robots with pneumatic actuation [6], [7], multiple flexible push-pull rods [8], [9], and a backbone that consists of concentric, precurved tubes [10].”
Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges (2021, methodology): “Leveraging these frameworks, the statics and dynamics of tendon actuated continuum and soft robots are derived and experimentally validated in [21], [22] and [23] respectively.”
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots (2010, methodology): “This enforcement of static equilibrium across discontinuous boundaries is also required in application of Cosserat theory to other types of continuum robots, and forms of these same conditions are also given in [7].”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, background): “…under various assumptions have been derived in the planar case (Gravagne et al. 2003; Tatlicioglu et al. 2007) and derivations based on an energy–work relationship (Ivanescu et al. 2007), conservation laws (Chirikjian 1995), and a Newtonian formulation of Cosserat rods (Trivedi et al. 2008a) exist.”
Control Strategies for Soft Robotic Manipulators: A Survey (2018, positive): “Concurrently, a more complex modeling approach using beam theory was pursued using beam theory(14) and Cosserat rod theory.(17) However, the improvement in accuracy attained by a more complex model was not significant enough considering their computational and sensing cost and therefore have been li”
Continuum Robots for Medical Applications: A Survey (2015, methodology): “…community was sparked by Pai in 2002 [123], and the first use of Cosserat rod theory to model continuum robots was apparently by Trivedi et al. [124] although a similar model was earlier obtained by Davis and Hirschorn [125], and the same governing equations have been derived by Chirikjian…”