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Dynamics for variable length multisection continuum arms (2015)
Journal Article
Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., & Caldwell, D. G. (2016). Dynamics for variable length multisection continuum arms. International Journal of Robotics Research, 35(6), https://doi.org/10.1177/0278364915596450

Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible ba... Read More about Dynamics for variable length multisection continuum arms.

Modal kinematics for multisection continuum arms (2015)
Journal Article
Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., & Caldwell, D. G. (2015). Modal kinematics for multisection continuum arms. Bioinspiration and Biomimetics, 10(3), doi:10.1088/1748-3190/10/3/035002

This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and no... Read More about Modal kinematics for multisection continuum arms.