COSserat theory for SlEnder RObOTS – COSSEROOTS
Robotics is today experiencing a paradigmatic revolution. The “stiffer is better” of our rigid robots is challenged by a new generation of robots with controlled deformations of finite amplitudes. This is the case of trunk-robots in soft robotics, continuum robots in medical robotics or hyper-redundant eel/snake-robots in bio-inspired robotics. In contrast to the rigid elder sibling, this novel robotics lacks a solid and unified corpus of modelling tools for control. Building on a novel parametrization of the Cosserat theory of rods, COSSEROOTS aims at producing for the first time a comprehensive and unified corpus of methods and models devoted to the control of slender robots with actuated large deformations. Beyond modelling, COSSEROOTS will use these novel modelling tools to address challenging control problems in the fields of soft, medical, and bio-inspired robotics.
Project coordination
Frederic Boyer (Laboratoire des Sciences du Numérique de Nantes)
The author of this summary is the project coordinator, who is responsible for the content of this summary. The ANR declines any responsibility as for its contents.
Partner
TIMC-IMAG Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble
Inria LNE Centre de Recherche Inria Lille - Nord Europe
LS2N Laboratoire des Sciences du Numérique de Nantes
IUSTI Institut universitaire des systèmes thermiques industriels
Help of the ANR 516,218 euros
Beginning and duration of the scientific project:
October 2020
- 48 Months
