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.
Loading... 
