Communication Dans Un Congrès Année : 2015

Closed-forms of planar Kirchhoff elastic rods: application to inverse geometry

Résumé

In this paper, we address the problem of inverse geometry for Kirchhoff elastic rods. Based on the explicit formulation of extremal curves in terms of elliptic functions, we derive closed forms for rod shape and sensitivity in the planar case and we show how this can be used efficiently in robotics applications. More specifically, a numerical optimization approach is presented to solve the inverse geometry problem in the general 3-D case and applied to the planar case using closed forms previously introduced.

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Dates et versions

hal-01153456 , version 1 (19-05-2015)
hal-01153456 , version 2 (20-02-2017)

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  • HAL Id : hal-01153456 , version 2

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Olivier Roussel, Marc Renaud, Michel Taïx. Closed-forms of planar Kirchhoff elastic rods: application to inverse geometry. IMA Conference on Mathematics of Robotics, Sep 2015, Oxford, United Kingdom. 9p. ⟨hal-01153456v2⟩
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