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.
Model-based control of soft robots: A survey of the state of the art and open challenges,
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A port-Hamiltonian Gaussian Process model integrates Cosserat rod theory and Hamiltonian structure with data-driven inference to learn energy-consistent dynamics of planar soft robots.
citing papers explorer
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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.
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Learning-Based Modeling of Soft Robots via Cosserat Rod Theory
A port-Hamiltonian Gaussian Process model integrates Cosserat rod theory and Hamiltonian structure with data-driven inference to learn energy-consistent dynamics of planar soft robots.