SoFFT uses spatial Fourier transform on Cosserat rod backbones to compactly model soft robot deformations, unifying heuristics and enabling experimental data-driven methods with fewer parameters.
Geometric numerical integration: Structure-preserving algorithms for ordinary differential equations , volume 31 of springer series in computational mathematics, 2006
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SoFFT: Spatial Fourier Transform for Modeling Continuum Soft Robots
SoFFT uses spatial Fourier transform on Cosserat rod backbones to compactly model soft robot deformations, unifying heuristics and enabling experimental data-driven methods with fewer parameters.