A mixed formulation for Cosserat rod dynamics is cast as an infinite-dimensional nonlinear port-Hamiltonian system and discretized with structure-preserving finite elements to yield energy-momentum consistent time integration.
Soft robotics
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
citation-role summary
method 1
citation-polarity summary
verdicts
UNVERDICTED 2roles
method 1polarities
use method 1representative citing papers
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.
citing papers explorer
-
Mixed formulation and structure-preserving discretization of Cosserat rod dynamics in a port-Hamiltonian framework
A mixed formulation for Cosserat rod dynamics is cast as an infinite-dimensional nonlinear port-Hamiltonian system and discretized with structure-preserving finite elements to yield energy-momentum consistent time integration.
-
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.