Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives

Cosserat rod theory proved efficient modeling performances in robotics, especially the context of continuum robots, past decade. The implementation such is far from being unique and straightforward. We consider illustrative example multisegment, general routing tendon actuated robots their nominal static operating regime. This article details two main approaches based on modeling, namely, Newtonian Lagrangian approaches. provide a walk-through guide regarding theoretical derivations numerical both approaches, together with proof equivalence. comparative study supplemented novel contributions extensions each approach in-depth discussion applicability, as well highlighting special features.