A mixed finite-element method for geometrically exact beams introduces an independent moment field to support discontinuous rotations and discrete curvature while retaining objectivity and showing optimal convergence in benchmarks.
Proceedings of the Royal Society of London
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2026 2verdicts
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A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
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Mixed Finite Elements for Geometrically Exact Beams using Discontinuous Rotations and Discrete Curvature
A mixed finite-element method for geometrically exact beams introduces an independent moment field to support discontinuous rotations and discrete curvature while retaining objectivity and showing optimal convergence in benchmarks.
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Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.