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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)
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)
This paper illustrates a robotic approach to the study of the Octopus vulgaris arm. On the base of the embodied intelligence theory, a study on the interaction among materials, mechanisms and actuation systems has been conducted. Starting from the observation of the performances of the octopus and drawing inspiration by its functional anatomy, several(More)
Control of soft robots remains nowadays a big challenge, as it does in the larger category of continuum robots. In this paper a direct and inverse kinetics models are described for a non-constant curvature structure. A major effort has been put recently in modelling and controlling constant curvature structures, such as cylindrical shaped manipulators.(More)
The solution of the inverse kinematics problem of soft manipulators is essential to generate paths in the task space. The inverse kinematics problem of constant curvature or piecewise constant curvature manipulators has already been solved by using different methods, which include closed-form analytical approaches and iterative methods based on the Jacobian(More)
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