Screw Theory for Rigid and Soft Robots

The following files were items gleaned from the screw theory tutorials at IROS2018 in Madrid. I thought the contents were so good that it was important to archive some of the materials that were used to teach here before they disappear from the eye of the public.

I do hope you enjoy them as much as I enjoyed attending the tutorials.

Relevant Links/Tutorial PDFs

• IROS2018 Tutorials webpage

• Author: Cecilia Laschi and Egidio Falotico

  • Control Strategies for Soft Robotic Manipulators

• Author: Cecilia Laschi and Marcello Calisti Falotico

  • Soft robot bodies: a control challenge or a solution for robot control

• Author: Peter Corke

  • Screw Theory for Robotics using MATLAB®

• Author: J.M. Selig

  • Screw Theory: Old and New

• Joshua L. Bishop-Moser

  • Design of Generalized Fiber-reinforced Elasto-fluidic Systems

• Author: Federico Renda

  • Screw Theory as a Unified Approach for Rigid, Soft Articulated and Soft Continuum Robots

• Author: Jose Manuel PARDOS

  • A compelling computational approach of screw theory for robotics - Part I

  • A compelling computational approach of screw theory for robotics - Part II

• Authors: Stanislao Grazioso, Giuseppe Di Gironimo, Bruno Siciliano

  • Modeling of soft robots using product of exponentials

• Authors: Elias Cueto, Davis Gonzalez and Iciar Alfaro

  • Proper Generalized Decomposition