Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case.
IEEE Robotics and Automation Letters(2020)
摘要
The complex nature of soft robot dynamics calls for the development of models specifically tailored on the control application. In this letter, we take a first step in this direction by proposing a dynamic model for slender soft robots, taking into account the fully infinite-dimensional dynamical structure of the system. We also contextually introduce a strategy to approximate this model at any le...
更多查看译文
关键词
Robot kinematics,Soft robotics,Numerical models,Mathematical model,Shape,Finite element analysis
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要