This research introduces a Cosserat rod based mathematical model for a self-controllable variable curvature soft continuum robot. The robot is able to perform variable curvature through a growing spine that can modulate its stiffness. It can perform continuous curvature variation, unlike previous models. The study investigated the property of growing spine stiffness and incorporated it into the Cosserat rod model. Experiments were conducted and the results showed that the mathematical model matched experimental results with only a 3.3% error rate.
Publication date: 19 Feb 2024
Project Page: https://arxiv.org/abs/2402.12315v1
Paper: https://arxiv.org/pdf/2402.12315
