Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach

Frederic Boyer, Vincent Lebastard, Fabien Candelier, Federico Renda

Research output: Contribution to journalArticlepeer-review

76 Scopus citations


In this article, we propose a new dynamic model of Cosserat beams in view of its application to continuum and soft robotics manipulation and locomotion. In contrast to usual approaches, it is based on the nonlinear parameterization of the beam shape by its strain fields and their reduction on a functional basis of strain modes. While remaining geometrically exact, the approach provides us with a minimal set of ordinary differential equations in the usual Lagrange matrix form that can be exploited for analysis and control design. Inspired from rigid robotics, the calculation of the matrices of this Lagrangian model is performed with a new reduced inverse Newton-Euler algorithm. To assess the approach, this Lagrangian model is compared against a well-validated finite element method through several benches of nonlinear structural statics and dynamics.

Original languageBritish English
Article number9272318
Pages (from-to)847-863
Number of pages17
JournalIEEE Transactions on Robotics
Issue number3
StatePublished - Jun 2021


  • Cosserat beams
  • direct/inverse dynamics formulation
  • dynamics
  • modeling, control, and learning for soft robots


Dive into the research topics of 'Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach'. Together they form a unique fingerprint.

Cite this