{"paper":{"title":"On the Modelling of Soft-robots as Quasi-Continuum Lagrangian Dynamical Systems with Well-posed Input Matrix","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cond-mat.soft"],"primary_cat":"physics.class-ph","authors_text":"Christian A. Trejo-Ramos, David Navarro-Alarc\\'on, Ernesto Olgu\\'in-D\\'iaz, Vicente Parra-Vega","submitted_at":"2018-12-06T04:43:06Z","abstract_excerpt":"In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the Lagrangian models properties, including a well-posed input matrix. Actuation is considered throughout three inner pressure cambers, and torsional effects are neglected. The closed-form analytical model is obtained using a scalar varying mass density field, previously neglected in the literature, which produces on one hand a varying center of mass, which generally does not lay in the backbone curve, and one the other ha"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.02738","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}