On the Modelling of Soft-robots as Quasi-Continuum Lagrangian Dynamical Systems with Well-posed Input Matrix

Ernesto Olguín-Díaz, Christian A. Trejo-Ramos, Vicente Parra-Vega +1

In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the La…