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Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law
Cosserat rod models for soft robots usually construct sectional stiffness by summing material properties over a common cross-section. This assumption becomes inaccurate for trimmed helicoid arms, where load-bearing helix domains are separated and connected only through sparse fused crossings. This paper formulates a separated-section constitutive law that evaluates each helix domain in its local frame and pulls its constitutive response back to the backbone, yielding an effective backbone stiffness. Sparse-fusion mechanics captures the additional compliance caused by relative motion between ne
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-21T18:13:33.000Z
First collected: 2026-09-23T06:11:12.848Z. This is not the publication date.