Cosserat Rod-Based Dynamic Modeling of Tendon-Driven Continuum Robots: A Tutorial

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. Modeling and control of CRs motivate accurate and efficient dynamic models. Such models will enable simulation of dyna...

وصف كامل

التفاصيل البيبلوغرافية
الحاوية / القاعدة:	IEEE Access
المؤلفون الرئيسيون:	Farrokh Janabi-Sharifi, Amir Jalali, Ian D. Walker
التنسيق:	مقال
اللغة:	الإنجليزية
منشور في:	IEEE 2021-01-01
الموضوعات:	Continuum robot cooperative Cosserat rod dynamics tendon-driven
الوصول للمادة أونلاين:	https://ieeexplore.ieee.org/document/9420666/

مواد مشابهة

Cosserat Rod-Based Tendon Friction Modeling, Simulation, and Experiments for Tendon-Driven Continuum Robots
حسب: Honghong Wang, وآخرون
منشور في: (2025-03-01)

General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered
حسب: Peiyi Wang, وآخرون
منشور في: (2023-06-01)

Finite Element Analysis Using a Cosserat Linear Elastic Continuum
حسب: Alfonso Mariano Ramos-Cañón, وآخرون
منشور في: (2017-02-01)

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods
حسب: Anuraj Uthayasooriyan, وآخرون
منشور في: (2024-06-01)

Strain-Based Cosserat Rod Model for Suspended Cable-Driven Parallel Robots in Construction 3D Printing
حسب: Mrunal Kanti Mishra, وآخرون
منشور في: (2025-01-01)

Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation
حسب: Majid Roshanfar, وآخرون
منشور في: (2023-12-01)

Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots
حسب: Oscar Altuzarra, وآخرون
منشور في: (2024-10-01)

Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task
حسب: Zhang Junxia Zhang Qiuchen
منشور في: (2019-01-01)

Design and control of a continuum robot with switchable stiffness based on ball-and-socket joints
حسب: Wentuo Yang, وآخرون
منشور في: (2025-10-01)

On Thermodynamically Consistent Form of Nonlinear Equations of the Cosserat Theory
حسب: Vladimir M. SADOVSKII
منشور في: (2017-03-01)

A model of continuous granular medium. Waves in the reduced Cosserat continuum
حسب: V.V. Lalin, وآخرون
منشور في: (2012-08-01)

Coconut tree modeling based on abiotic factors and modified cosserat rod theory
حسب: Sakthiprasad Kuttankulangara Manoharan, وآخرون
منشور في: (2025-05-01)

Full Forward Kinematics of Lower-Mobility Planar Parallel Continuum Robots
حسب: Oscar Altuzarra, وآخرون
منشور في: (2024-11-01)

PDE Cosserat rod modelling of a pneumatic soft arm and position control in extending mode
حسب: Mostafa Fallahi, وآخرون
منشور في: (2024-06-01)

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening
حسب: Majid Roshanfar, وآخرون
منشور في: (2023-04-01)

Observed Control of Magnetic Continuum Devices
حسب: Richard L. Pratt, وآخرون
منشور في: (2023-01-01)

A ball-jointed tendon-driven continuum robot with multi-directional operability for grasping objects
حسب: Ryo Onose, وآخرون
منشور في: (2024-03-01)

Development of a Tendon-Driven Continuum Robot for Medical Applications
حسب: N. Yaswanth Siva Sai, وآخرون
منشور في: (2025-02-01)

Planar Inverse Statics and Path Planning for a Tendon-Driven Discrete Continuum Robot
حسب: Yeoun-Jae Kim, وآخرون
منشور في: (2025-06-01)

Development of Tendon-Driven Continuum Robot with Visual Posture Sensing for Object Grasping
حسب: Ryo Onose, وآخرون
منشور في: (2025-03-01)

A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution
حسب: Daiki Yoshikawa, وآخرون
منشور في: (2023-07-01)

Design of FDM-printable tendon-driven continuum robots using a serial S-shaped backbone structure
حسب: Kaidi Zhu, وآخرون
منشور في: (2025-03-01)

Non-classical continuum theories for solid and fluent continua and some applications
حسب: K.S. Surana, وآخرون
منشور في: (2019-01-01)

Increasing Micro-Rotational Viscosity Results in Large Micro-Rotations: A Study Based on Monolithic Eulerian Cosserat Fluid–Structure Interaction Formulation
حسب: Nazim Hussain Hajano, وآخرون
منشور في: (2022-11-01)

Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm
حسب: Carlo Alessi, وآخرون
منشور في: (2023-01-01)

A hybrid tendon-driven continuum robot that avoids torsion under external load
حسب: Maria Paula Huertas Niño, وآخرون
منشور في: (2025-05-01)

Complex potentials solutions for isotropic Cosserat bodies with voids
حسب: D. M. Neagu, وآخرون
منشور في: (2024-10-01)

Open continuum robotics–one actuation module to create them all
حسب: Reinhard M. Grassmann, وآخرون
منشور في: (2024-01-01)

A Two-Segment Continuum Robot with Piecewise Stiffness for Tracheal Intubation and Active Decoupling
حسب: Jianhao Tang, وآخرون
منشور في: (2025-05-01)

On Energy Release Rate for Propagation of a Straight Crack in a Cosserat Elastic Body
حسب: Marin Marin, وآخرون
منشور في: (2022-09-01)

Numerical Simulation of Flexural Deformation Through an Integrated Cosserat Expanded Constitutive Model and the Drucker–Prager Criterion
حسب: Naining Bai, وآخرون
منشور في: (2025-03-01)

Time Domain Modeling and Simulation of Nonlinear Slender Viscoelastic Beams Associating Cosserat Theory and a Fractional Derivative Model
حسب: Adailton S. Borges, وآخرون

Silicone Foley’s catheter as an effective alternative to Hunter’s rod in staged flexor tendon reconstruction of the hand
حسب: Tawheed Ahmad, وآخرون
منشور في: (2016-09-01)

Learning-based control for tendon-driven continuum robotic arms
حسب: Nima Maghooli, وآخرون
منشور في: (2025-07-01)

Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission
حسب: Mingyuan Wang, وآخرون
منشور في: (2023-09-01)

Influence of chirality on buckling of inextensible rings subject to dead loading
حسب: Tuan M. Hoang
منشور في: (2024-10-01)

Modeling and Analysis of a Novel 3R Parallel Compliant Mechanism
حسب: Lanqing Pan, وآخرون
منشور في: (2023-03-01)

Variational formulations for non-linear problems with independent rotational degrees of freedom
حسب: V.V. Lalin, وآخرون
منشور في: (2015-06-01)

Adaptive Actuation of Magnetic Soft Robots Using Deep Reinforcement Learning
حسب: Jianpeng Yao, وآخرون
منشور في: (2023-02-01)

About instability in an elastic Cosserat body with pores
حسب: Codarcea-Munteanu L., وآخرون
منشور في: (2025-03-01)