Multi-body dynamics simulation of geometrically exact Cosserat rods

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Real-time dynamics of soft and continuum robots based on Cosserat rod models (2019, background): “Alternative maximal coordinates approaches (Bergou et al., 2008; Kugelstadt and Schömer, 2016; Lang et al., 2011; Spillmann and Teschner, 2009; Umetani et al., 2014) are primarily pursued in the computer graphics literature and typically represent the shape with a discrete geometry convention (e.”
Isogeometric collocation methods for Cosserat rods and rod structures (2017, unknown): “It can be interpreted as a nonlinear extension of 3-dimensional Timoshenko beam theory [38, 49].”
Nonlinear model order reduction for flexible multibody dynamics: a modal derivatives approach (2016, background): “The material and geometric properties of the beam are taken from [37, 38]: E = 5 × 106 N/m(2), ρ = 1.”
Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges (2021, unknown): “Infinite-Dimensional Models The Kirchhoff-Clebsch-Love and Cosserat rod theories lead to exact descriptions of the dynamics of rod-like structures [21], [22], [23], [24].”
Three-Dimensional Dynamics for Cable-Driven Soft Manipulator (2017, methodology): “[18]–[19] derived the governing equations of geometrically exact Cosserat rods using Lagrangian field theory.”
A bonded-particle model for cemented sand (2013, background): “Using beam theory also gives access to a lot of experience in providing efficient numerical implementations [47].”