Closed-forms of Kirchhoff elastic rods shape and sensitivity in the planar case

Olivier Roussel (1) , Marc Renaud (2) , Michel Taïx (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 LAAS-RAP - Équipe Robotique, Action et Perception

In this report we give closed-forms of Kirchhoff 3-D elastic rods curvature in terms of elliptic functions and, by treating planar rods as a special case, we show we can also obtain closed-forms of planar rods shape, sensitivity and total elastic energy.

Domaines: Robotique [cs.RO]

Olivier Roussel, Marc Renaud, Michel Taïx. Closed-forms of Kirchhoff elastic rods shape and sensitivity in the planar case. [Research Report] LAAS-CNRS. 2015. ⟨hal-01133395v3⟩