首页|New Robotics Findings Reported from Carleton University [Surf r: a Fast Recursive Simulator for Soft Manipulators With Discrete Joints On Se(3 )]
New Robotics Findings Reported from Carleton University [Surf r: a Fast Recursive Simulator for Soft Manipulators With Discrete Joints On Se(3 )]
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New research on Robotics is the subjec t of a report. According to news reporting originating in Ottawa, Canada, by New sRx journalists, research stated, "We develop a fast, recursive, and parameteriz ation-free formulation for the dynamics of soft robots. Such systems are modelle d as multi -body systems, composed of rigid and flexible bodies connected with d iscrete joints." Funders for this research include CGIAR, Canada Research Chairs. The news reporters obtained a quote from the research from Carleton University, "We couple the recursive Newton-Euler equation for rigid bodies and the Partial Differential Equations (PDEs) on the Special Euclidean group SE(3) modelling dyn amic Cosserat rods to capture the system's dynamics. Our proposed inverse dynami cs recursively determines the system's response and the joint torques, given a j oint-space trajectory; while subject to known joint torques and external forces, the forward dynamics determines the system's motion. Unlike rigid systems, the inclusion of flexible bodies necessitates solving a coupled set of PDEs with sep arated Boundary Conditions (BCs). We develop a shootingmethod-based BC solver to move BCs to one point and a numerical framework based on a finite difference me thod to spatially integrate these equations using a geometrically exact integrat or on SE(3)."
OttawaCanadaNorth and Central Americ aEmerging TechnologiesMachine LearningNano-robotRoboticsCarleton Unive rsity
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