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.
Cosserat rod- based dynamic modeling of tendon-driven continuum robots: A tutorial,
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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.