Cosserat Rod

Cosserat rod theory provides a powerful mathematical framework for modeling the mechanics of slender, deformable objects, finding increasing application in robotics and beyond. Current research focuses on applying Cosserat rod models, often coupled with advanced numerical schemes like implicit Euler methods, to simulate and control various systems, including soft continuum robots, tendon-driven catheters, and plant-robot interactions in agriculture. This modeling approach allows for accurate prediction of complex deformations and interactions, leading to improved design, control, and simulation capabilities in diverse fields requiring precise manipulation of flexible structures.