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To address the challenges with real-time accurate modeling of multisegment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic methods. By combining a modified Lagrange polynomial series solution, based on experimental observations, with Ritz and Ritz–Galerkin methods,...
The complexity of soft continuum manipulators with hybrid and tuneable structures poses a challenging task to achieve an inverse kinematics model which is both precise and computationally efficient for control and optimization purposes. In this paper, a new method based on the principle of virtual work and a geometry deformation approach is presented for the inverse kinematics model of the STIFF-FLOP...
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