@inproceedings{269caef65fe449e682b34b32f1290543,
title = "Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears",
abstract = "Modeling and control of soft robots is an up-todate and exciting area of research which has been tackled with complementary approaches so far. In this paper, we modify the existing continuum Cosserat approach optimizing it for soft robot arms which can be discretized in a finite number of sections and degrees of freedom. The resulting new piece-wise constant strain model extends the existing piece-wise constant curvature model by allowing torsion and shears strains which are fundamental to cope with out-of-the-plane external forces as appearing for example during ground locomotion. A first experimental comparison has been also conducted using one fluidic actuated leg of the soft crawler FASTT.",
author = "Federico Renda and Vito Cacucciolo and Jorge Dias and Lakmal Seneviratne",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",
year = "2016",
month = nov,
day = "28",
doi = "10.1109/IROS.2016.7759808",
language = "British English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5495--5502",
booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}