Dynamic modeling of soft continuum manipulators using lie group variational integration.

Dynamic modeling of soft continuum manipulators using lie group variational integration.

This paper presents the derivation and experimental validation of algorithms for modeling and estimation of soft continuum manipulators using Lie group variational integration. Existing approaches are generally limited to static and quasi-static analyses, and are not sufficiently validated for dynam...

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Bibliographic Details
Main Authors: Abbas Tariverdi, Venkatasubramanian Kalpathy Venkiteswaran, Ørjan Grøttem Martinsen, Ole Jacob Elle, Jim Tørresen, Sarthak Misra
Format: Article
Language:English
Published: Public Library of Science (PLoS) 2020-01-01
Series:PLoS ONE
Online Access:https://doi.org/10.1371/journal.pone.0236121

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