Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law
Multibody
This paper proposes a separated-section constitutive law for Cosserat rod modeling of trimmed helicoid soft robot arms, evaluating each helix domain's mechanical response in its local frame and mapping it back to the global coordinate system for improved modeling accuracy.
See LICENSE file soft robotCosserat rodconstitutive law