@inproceedings{fade1478312f4d659d2d458c4e27c0e1,
title = "A geometric and unified approach for modeling soft-rigid multi-body systems with lumped and distributed degrees of freedom",
abstract = "In this paper, a geometric and unified model of soft-rigid multi-body systems is presented, based on a discrete Cosserat approach of the soft-body dynamics. The model is in fact a generalization to soft and hybrid systems of the geometric theory of rigid robotics characterized by the exponential map. A generalization of the recursive Newton-Euler algorithm is also presented, able to solve inverse and forward dynamic problems with linear O(N) complexity. The proposed model provides several improvements with respect to the existing flexible multi-body models, which make it particularly suitable to study the dynamics of modern soft robots as shown for a multi-body system inspired by motile bacteria.",
author = "Federico Renda and Lakmal Seneviratne",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",
year = "2018",
month = sep,
day = "10",
doi = "10.1109/ICRA.2018.8461186",
language = "British English",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1567--1574",
booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",
address = "United States",
}