Discrete Cosserat Approach for Multisection Soft Manipulator Dynamics

Nowadays, the most adopted model for the design and control of soft robots is the piecewise constant curvature model, with its consolidated benefits and drawbacks. In this work, an alternative model for multisection soft manipulator dynamics is presented based on a discrete Cosserat approach, in which the continuous Cosserat model is discretized by assuming a piecewise constant strain along the soft arm. As a consequence, the soft manipulator state is described by a finite set of constant strains. This approach has several advantages with respect to the existing models. First, it takes into account shear and torsional deformations, which are both essential to cope with out-of-plane external loads. Furthermore, it inherits desirable geometrical and mechanical properties of the continuous Cosserat model, such as intrinsic parameterization and greater generality. Finally, this approach allows to extend to soft manipulators, the recursive composite-rigid-body and articulated-body algorithms, whose performances are compared through a cantilever beam simulation. The soundness of the model is demonstrated through extensive simulation and experimental results.