Closed-forms of planar Kirchhoff elastic rods: application to inverse geometry - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2015

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

Olivier Roussel
Marc Renaud

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.
Fichier principal
Vignette du fichier
HAL_version (2).pdf (573.95 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

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

Licence

Paternité - Partage selon les Conditions Initiales

Identifiants

  • HAL Id : hal-01153456 , version 2

Citer

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⟩
827 Consultations
294 Téléchargements

Partager

Gmail Facebook X LinkedIn More