Discrete Cosserat Approach for Multi-Section Soft Robots Dynamics
This provides a foundational model for soft robotics, akin to rigid robotics dynamics, addressing challenges in handling out-of-plane loads for researchers and engineers.
The paper tackled the lack of a unified modeling framework for soft robots by presenting a discrete Cosserat approach for multi-section soft robot dynamics, which accounts for shear and torsional deformations and was validated through simulations and experiments.
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated benefits and drawbacks. In this work, an alternative model for multisection soft robots dynamics is presented based on a discrete Cosserat approach, which, not only takes into account shear and torsional deformations, essentials to cope with out-of-plane external loads, but also inherits the geometrical and mechanical properties of the continuous Cosserat model, making it the natural soft robotics counterpart of the traditional rigid robotics dynamics model. The soundness of the model is demonstrated through extensive simulation and experimental results for both plane and out-of-plane motions.