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Cosserat extension review2
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| (ssh://[email protected]/llvm/llvm-project.git 8f193d135b5e285f03a4863d7cf657c97c24b0b3 based on LLVM ed5dd8e5f0fb6ca4af26adcb6193a9d9106eb36a revision) |
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| [](https://app.gitter.im/#/room/#sofa-framework_cosserat-needle-insertion:gitter.im) | ||
| [](https://github.com/sofa-framework/sofa/discussions/categories/cosserat) | ||
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| # Description | ||
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| Cosserat model has been introduced in continuum robotics to simulate the deformation of the robot body whose geometry | ||
| and mechanical characteristics are similar to a rod. | ||
| By extension, this model can be used to simulate needles, wires. | ||
| The specificity of Cosserat's theory from the point of view of the mechanics of continuous media, is to consider that: each material point | ||
| of an object is rigid body(3 translations, 3 rotations), where most other models of continuum media mechanics consider | ||
| the material point as particles (3 translations). | ||
| For the modeling of linear structures, it is therefore possible to find a framework very close to the articulated solids with a series | ||
| of rigid body whose relative position is defined by a strain state. | ||
| This model can be used to model and control concentric tube robots, continuum robots actuated with cables, or pneumatic soft robots | ||
| with a constant cross-section. | ||
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| ## Features | ||
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| 1. Pieces-wise constant Strain PCS: This feature is base on the paper | ||
| 1. __Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears__ [Link to the paper](https://ieeexplore.ieee.org/document/7759808) | ||
| 2. __Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots__ [Link to the paper](https://hal.archives-ouvertes.fr/hal-03192168/document) | ||
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| <div align="center"> | ||
| <a href="https://www.youtube.com/watch?v=qwzKAgw31pU"><img src="https://img.youtube.com/vi/qwzKAgw31pU/0.jpg" alt="link to youtube"></a> | ||
| </div> | ||
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| 2. Pieces-wise Non-constant Strain: | ||
| 3. DCM with Plastic model | ||
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| ### Modelling cochlear implant using Discret Cosserat Model (DCM) | ||
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| | View 1 | View 2 | View 3 | | ||
| |---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------| | ||
| | <img src="/doc/images/multiSectionWithColorMap1.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap2.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap3.png" width="300" title="DCM as an implant"> | | ||
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| ### DCM for cable modeling to control deformable robots: | ||
| | Direct simulation of a soft gripper | The study the model convergence | | ||
| |------------------------------------------------------------------------------------------| --- | | ||
| | <img src="/doc/images/cosseratgripper_2.png" width="400" title="DCM for cable modeling"> | <img src="/doc/images/tenCossseratSections.png" width="400" title="DCM for cable modeling ">| | ||
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| ### Some use cases | ||
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| | <img src="/doc/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="doc/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="/doc/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable"> | | ||
| | ------------- |:-------------:| -----:| | ||
| | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```| | ||
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| | <img src="/doc/images/example1.gif" width="300" title="PCS_Example1.py "> | <img src="./doc/images/example2.gif" widt="300" title="PCS_Example2.py"> | <img src="./doc/images/example2.gif" width="300" title="PCS_Example3.PCS"> | | ||
| | ------------- |:-------------:| -------------:| | ||
| | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```| | ||
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| Format: ![Alt Text] | ||
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| # Cosserat | ||
| <div class="highlight-content"> | ||
| <strong>Overview</strong> | ||
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| An open-source plugin, designed to be compatible with the Sofa framework, facilitates the simulation of 1D objects. | ||
| Specifically, it caters to the modeling of both rigid and flexible 1D entities, like rods, wires or needles, using the Cosserat beam theory. | ||
| In this context, we have outlined a range of potential applications for this plugin. If you wish to explore its functionality, you have the flexibility to construct scenes using Python or XML, or you can take it a step further by developing new C++ components. | ||
| We also welcome contributions from the community to enhance and expand the capabilities of this plugin. | ||
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| </div> | ||
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| ## Description related to Soft-body modeling | ||
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| The Cosserat model has found applications in the realm of continuum robotics, particularly for simulating the deformation of robot bodies with geometries and mechanical properties akin to rods. | ||
| This model aligns closely with the dynamic deformation patterns exhibited by soft manipulators, as it can effectively replicate nonlinear deformations encompassing bending, torsion, extension, and shearing. | ||
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| One distinctive feature of Cosserat's theory, within the domain of continuous media mechanics, lies in its conceptualization: | ||
| it views each material point of an object as a rigid body with six degrees of freedom (three translations and three rotations). | ||
| In contrast, many other models in continuum media mechanics tend to treat material points as particles with only three translation degrees of freedom. | ||
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| When modeling linear structures, this framework enables the creation of a structure closely resembling articulated solids, consisting of a series of rigid bodies whose relative positions are defined by their strain states. | ||
| Consequently, this model serves as a versatile tool for modeling and controlling a variety of systems, including concentric tube robots, continuum robots driven by cables, or pneumatic soft robots with constant cross-sections. | ||
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| Go into theorotical part of the plugin [Theory](docs/text/Theory.md) | ||
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| Follow the tutorial : [cosserat_tutorial](docs/text/cosserat_tutorial.md) | ||
| ## Some use cases | ||
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| ### Modeling and control | ||
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| Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. | ||
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| #### Direct control | ||
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| Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. | ||
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| #### Modeling cochlear implant using Discret Cosserat Model (DCM) | ||
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| | View 1 | View 2 | View 3 | | ||
| |----------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------|----------------------------------------------------------------------------------------------| | ||
| |  |  |  | | ||
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| ## Utilizing the Discrete Cosserat Model for Cable Modeling in Deformable Robot Control: | ||
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| | Direct simulation of a soft gripper | The study of the model convergence | | ||
| |-------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------------------------| | ||
| |  |  | | ||
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| --- | ||
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| <strong> Actuation </strong> | ||
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| | <img src="/docs/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="docs/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="/docs/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable"> | | ||
| |---------------------------------------------------------------------------------------------------------------|:----------------------------------------------------------------------------------------------------------------:|--------------------------------------------------------------------------------------------------------:| | ||
| | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =``` | Beam actuation using a cable ```d =``` | | ||
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| | <img src="/docs/images/example1.gif" width="300" title="PCS_Example1.py "> | <img src="./docs/images/example2.gif" widt="300" title="PCS_Example2.py"> | <img src="./docs/images/example2.gif" width="300" title="PCS_Example3.PCS"> | | ||
| |----------------------------------------------------------------------------|:-------------------------------------------------------------------------:|----------------------------------------------------------------------------:| | ||
| | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =``` | Beam actuation using a cable ```d =``` | | ||
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| <strong> Tripod using bending lab sensors </strong> | ||
| Format: ![Alt Text] | ||
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| ### Inverse Control | ||
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| ## Publications | ||
| 1. Pieces-wise constant Strain PCS: This feature is based on the paper | ||
| - __Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears__ [Link to the paper](https://ieeexplore.ieee.org/document/7759808) | ||
| - __Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots__ [Link to the paper](https://ieeexplore.ieee.org/abstract/document/9362217). | ||
| The link to download the Pdf of the Paper: __https://hal.archives-ouvertes.fr/hal-03192168/document__ | ||
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| <div align="center"> | ||
| <a href="https://www.youtube.com/watch?v=qwzKAgw31pU"><img src="https://img.youtube.com/vi/qwzKAgw31pU/0.jpg" alt="link to youtube"></a> | ||
| </div> | ||
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| 2. Pieces-wise Non-constant Strain: | ||
| 3. DCM with Plastic model | ||
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| %%% old_version | ||
| [](https://app.gitter.im/#/room/#sofa-framework_cosserat-needle-insertion:gitter.im) | ||
| [](https://github.com/sofa-framework/sofa/discussions/categories/cosserat) | ||
|
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||
|  | ||
|  | ||
|  | ||
|
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||
|
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| # Description | ||
|
|
||
| Cosserat model has been introduced in continuum robotics to simulate the deformation of the robot body whose geometry | ||
| and mechanical characteristics are similar to a rod. | ||
| By extension, this model can be used to simulate needles, wires. | ||
| The specificity of Cosserat's theory from the point of view of the mechanics of continuous media, is to consider that: each material point | ||
| of an object is rigid body(3 translations, 3 rotations), where most other models of continuum media mechanics consider | ||
| the material point as particles (3 translations). | ||
| For the modeling of linear structures, it is therefore possible to find a framework very close to the articulated solids with a series | ||
| of rigid body whose relative position is defined by a strain state. | ||
| This model can be used to model and control concentric tube robots, continuum robots actuated with cables, or pneumatic soft robots | ||
| with a constant cross-section. | ||
|
|
||
| ## Features | ||
|
|
||
| 1. Pieces-wise constant Strain PCS: This feature is base on the paper | ||
| 1. __Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears__ [Link to the paper](https://ieeexplore.ieee.org/document/7759808) | ||
| 2. __Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots__ [Link to the paper](https://hal.archives-ouvertes.fr/hal-03192168/document) | ||
|
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| <div align="center"> | ||
| <a href="https://www.youtube.com/watch?v=qwzKAgw31pU"><img src="https://img.youtube.com/vi/qwzKAgw31pU/0.jpg" alt="link to youtube"></a> | ||
| </div> | ||
|
|
||
| 2. Pieces-wise Non-constant Strain: | ||
| 3. DCM with Plastic model | ||
|
|
||
| ### Modelling cochlear implant using Discret Cosserat Model (DCM) | ||
|
|
||
| | View 1 | View 2 | View 3 | | ||
| |---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------| | ||
| | <img src="/doc/images/multiSectionWithColorMap1.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap2.png" width="300" title="DCM as an implant"> | <img src="/doc/images/multiSectionWithColorMap3.png" width="300" title="DCM as an implant"> | | ||
|
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| ### DCM for cable modeling to control deformable robots: | ||
| | Direct simulation of a soft gripper | The study the model convergence | | ||
| |------------------------------------------------------------------------------------------| --- | | ||
| | <img src="/doc/images/cosseratgripper_2.png" width="400" title="DCM for cable modeling"> | <img src="/doc/images/tenCossseratSections.png" width="400" title="DCM for cable modeling ">| | ||
|
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| ### Some use cases | ||
|
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| | <img src="/doc/images/actuationConstraint_2.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="doc/images/circleActuationConstraint.png" width="300" title="DCM Beam actuation using a given cable"> | <img src="/doc/images/actuationConstraint_1.png" width="300" title="DCM Beam actuation using a cable"> | | ||
| | ------------- |:-------------:| -----:| | ||
| | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```| | ||
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| | <img src="/doc/images/example1.gif" width="300" title="PCS_Example1.py "> | <img src="./doc/images/example2.gif" widt="300" title="PCS_Example2.py"> | <img src="./doc/images/example2.gif" width="300" title="PCS_Example3.PCS"> | | ||
| | ------------- |:-------------:| -------------:| | ||
| | DCM Beam actuation using a cable ```d =``` | DCM Beam actuation using a cable ```d =```| Beam actuation using a cable ```d =```| | ||
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| Format: ![Alt Text] | ||
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This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,4 +1,4 @@ | ||
| cmake_minimum_required(VERSION 3.1) | ||
| cmake_minimum_required(VERSION 3.12) | ||
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| set(This Cosserat_test) | ||
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