The work introduces a tapered TPU backbone for tendon-driven continuum robots together with an extended Cosserat rod model that accounts for spatially varying cross-section, achieving centimeter-level shape prediction after Young's modulus calibration.
Real-time dynamics of soft and continuum robots based on Cosserat rod models,
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Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling
The work introduces a tapered TPU backbone for tendon-driven continuum robots together with an extended Cosserat rod model that accounts for spatially varying cross-section, achieving centimeter-level shape prediction after Young's modulus calibration.