Michele Giorelli

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—The new and promising field of soft robotics has many open areas of research such as the development of an exhaustive theoretical and methodological approach to dynamic modeling. To help contribute to this area of research, this paper develops a dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact(More)
— In this work we address the inverse kinetics problem of a non-constant curvature manipulator driven by three cables. An exact geometrical model of this manipulator has been employed. The differential equations of the mechanical model are non-linear, therefore the analytical solutions are difficult to calculate. Since the exact solutions of the mechanical(More)
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