Coupling Numerical Deformable Models in Global and Reduced Coordinates for the Simulation of the Direct and the Inverse Kinematics of Soft Robots.
Yinoussa AdagolodjoFederico RendaChristian DuriezPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- deformable models
- inverse kinematics
- medical images
- mass spring
- medical image analysis
- robot arm
- robot manipulators
- motion planning
- real robot
- position and orientation
- mobile robot
- auxiliary variables
- volumetric images
- image segmentation
- humanoid robot
- image analysis
- end effector
- shape modeling
- joint angles
- pattern recognition