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Your search keyword '"Kruszewski, Alexandre"' showing total 3 results
Start Over Author "Kruszewski, Alexandre" Journal journal of mechanisms and robotics
3 results on '"Kruszewski, Alexandre"'

3. Discrete Cosserat Method for Soft Manipulators Workspace Estimation: an Optimization-Based Approach

Author

Amehri, Walid, Zheng, Gang, Kruszewski, Alexandre, and Renda, Federico

Abstract

This paper investigates the workspace estimation of soft manipulators. Given a configuration of such a soft robot, with the bounded actuators, the Discrete Cosserat method is adopted to deduce the mathematical model of soft manipulators, based on which an optimization-based approach is proposed to estimate the workspace. Implemented to various soft manipulators' configurations, numerical simulations are provided to highlight the feasibility of the proposed methodology.

Published
2021
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