Dynamic modeling of soft continuum manipulators using lie group variational integration

• Abbas Tariverdi ,

  Roles Formal analysis, Visualization, Writing – original draft

  * E-mail: abbast@uio.no

  Affiliation Department of Physics, University of Oslo, Oslo, Norway

  http://orcid.org/0000-0001-5024-9224

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• Venkatasubramanian Kalpathy Venkiteswaran,

  Roles Writing – review & editing

  Affiliation Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands

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• Ørjan Grøttem Martinsen,

  Roles Funding acquisition

  Affiliations Department of Physics, University of Oslo, Oslo, Norway, Department of Clinical and Biomedical Engineering, Oslo University Hospital, Oslo, Norway

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• Ole Jacob Elle,

  Roles Writing – review & editing

  Affiliations The Intervention Centre, Oslo University Hospital, Oslo, Norway, Department of Informatics, University of Oslo, Oslo, Norway

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• Jim Tørresen,

  Roles Writing – review & editing

  Affiliation Department of Informatics, University of Oslo, Oslo, Norway

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• Sarthak Misra

  Roles Resources

  Affiliations Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands, Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, Groningen, The Netherlands

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