Learning-Based Modeling of Soft Robots via Cosserat Rod Theory

arXiv:2606.20958v1 Announce Type: new Abstract: Modeling soft robot dynamics is challenging due to their continuum structure and typically nonlinear dynamics. Creating models based on first-order principles is typically time-demanding, and their expressiveness is limited, whereas data-driven models lack interpretability and physical consistency. This work aims to overcome these challenges by introducing a port-Hamiltonian Gaussian Process Regression framework for learning and simulating the dyna...