Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach

In this article, we propose a new dynamic model of Cosserat beams in view its application to continuum and soft robotics manipulation locomotion. contrast usual approaches, it is based on the nonlinear parameterization beam shape by strain fields their reduction functional basis modes. While remaining geometrically exact, approach provides us with minimal set ordinary differential equations Lagrange matrix form that can be exploited for analysis control design. Inspired from rigid robotics, calculation matrices Lagrangian performed reduced inverse Newton-Euler algorithm. To assess approach, compared against well-validated finite element method through several benches structural statics dynamics.