Abstract
Abstract In this paper, an approach toward system theory for soft robotics is considered. An overview of a theoretical scenario is presented by focusing on an elastic rod which is regarded as one of the most essential objects for soft mechanical elements of soft robots. The presented topics include geometry of its backbone curve, kinematics, shape, mechanics (mainly its statics), and discretization, with emphasizing on some important system properties of an elastic rod which will be useful for shape computation and stiffness identification.
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