Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives - Archive ouverte HAL Access content directly
Journal Articles IEEE Transactions on Robotics Year : 2023

Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives

Abstract

Cosserat rod theory proved efficient modeling performances in robotics, especially in the context of continuum robots, in the past decade. The implementation of such theory is far from being unique and straightforward. We consider the illustrative example of multi-segment, general routing tendon actuated continuum robots in their nominal static operating regime. This paper details two main approaches based on Cosserat rod modeling, namely the Newtonian and Lagrangian approaches. We provide a walk-through guide regarding theoretical derivations and numerical implementation of both approaches, together with a proof of equivalence. This comparative study is supplemented with novel contributions and extensions of each approach and in-depth discussion of their performances and applicability, as well as highlighting their special features.
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Dates and versions

hal-03935561 , version 1 (18-01-2023)

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Matthias Tummers, Vincent Lebastard, Frédéric Boyer, Jocelyne Troccaz, Benoit Rosa, et al.. Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives. IEEE Transactions on Robotics, 2023, 39 (3), pp.2360-2378. ⟨10.1109/TRO.2023.3238171⟩. ⟨hal-03935561⟩
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