A Mixed Discrete Cosserat Rod Formulation (Q7284239)
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| English | A Mixed Discrete Cosserat Rod Formulation |
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A Mixed Discrete Cosserat Rod Formulation (English)
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23 July 2026
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math.NA
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math-ph
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Tianxiang Dai
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Marco Herrmann
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Jonas Breuling
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Remco I. Leine
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Simon R. Eugster
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This paper introduces a mixed discrete Cosserat rod formulation as a chain of rigid nodes with compliant couplings, arising from a finite element method, offering robustness, no locking, and a two-node coupling structure for soft robotics. This model is numerically validated on several examples involving piecewise-varying cross sections and tendon-driven actuation under different discretizations.
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Mixed Discrete Cosserat Rod
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Finite Element Method
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Rod Dynamics
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Soft Robotics
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Compliant Elastic Forces
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