This article provides a tutorial on the dynamic modeling of continuum robots. Continuum
robots (CRs) have gained popularity in recent years due to their flexible backbone structure …

The compliant structure and influence of external forces usually result in complex
deformation of soft continuum robots, which makes the accurate modeling and control of the …

Soft robot's natural dynamics calls for the development of tailored modeling techniques for
control. However, the high-dimensional configuration space of the geometrically exact …

Parallel robots with rigid transmission mechanisms have been widely developed to improve
the speed, precision, and load capability. However, it is still challenging in promoting soft …

A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and
controlling hybrid rigid–continuum robots. Such models should be fast, as simple as …

Robotic structures based on variable stiffness enable high-performance and flexible motion
systems that are inherently safe and thus allow safe Human-Robot Collaboration. This letter …

This paper introduces and validates a real-time dynamic predictive model based on a neural
network approach for soft continuum manipulators. The presented model provides a real …

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 …

Soft and continuously controllable grippers can be assembled from fluidic prestressed
composite (FPC) actuators. Due to their highly deformable features, it is difficult to model …

In this letter, we propose benefiting from load readings at the base of a continuum
appendage for real-time forward integration of Cosserat rod model with application in …