On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control.

Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they suffer from many issues limiting their range of applicability - as discontinuities and singularities - mainly concerning the straight configuration of the robot. In this work we analyze these flaws, and we show that they ar...