2022
DOI: 10.1007/s00466-022-02247-x
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A monolithic optimal control method for displacement tracking of Cosserat rod with application to reconstruction of C. elegans locomotion

Abstract: This article considers an inverse problem for a Cosserat rod where we are given only the position of the centreline of the rod and must solve for external forces and torques as well as the orientation of the cross sections of the centreline. We formulate the inverse problem as an optimal control problem using the position of the centreline as an objective function with the external force and torque as control variables, with meaningful regularisation of the orientations. A monolithic, implicit numerical scheme… Show more

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Cited by 2 publications
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