The robotics community has seen an exponential growth in the level of complexity of the
theoretical tools presented for the modeling of soft robotics devices. Different solutions have …

The dynamic equations of many continuum and soft robot designs can be succinctly
formulated as a set of partial differential equations (PDEs) based on classical Cosserat rod …

The new and promising field of soft robotics has many open areas of research such as the
development of an exhaustive theoretical and methodological approach to dynamic …

Hyper-redundant (or snakelike) manipulators have many more degrees of freedom than
required to position and orient an object in space. They have been employed in a variety of …

This article explores the relationship between optimal control and Cosserat beam theory
from the perspective of solving the forward and inverse dynamics (and statics as a subcase) …

The accurate dynamic model for continuum robots is necessary to expand their range of
applications. In this paper, a modular approach is proposed for dynamic modeling of cable …

A multi-constraint parallel continuum robot (MPCR) is composed of parallel flexible legs
under multiple constraints. Compared with a rigid parallel robot, the model of MPCR, which …

In this paper, a geometric and unified model of soft-rigid multi-body systems is presented,
based on a discrete Cosserat approach of the soft-body dynamics. The model is in fact a …

Controlling the configuration of a soft continuum robot arm is challenging due to the hyper-
redundant kinematics of such robots. We propose a new model-based, inverse dynamic …

The passive, mechanical adaptation of slender, deformable robots to their environment,
whether the robot be made of hard materials or soft ones, makes them desirable as tools for …