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.
Energy-Shaping Controllers for Soft Robot Manipulators Through Port- Hamiltonian Cosserat Models
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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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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.
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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.