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. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Feb 10;5(2):2642–2649. doi: 10.1109/lra.2020.2972880

TABLE I.

Calibrated values of model parameters

Parameter PRB Model
(Value)		 Cosserat Model
(Value)
E0 2.35 · 105 N/m2 3.00 · 105 N/m2
El 1.68 · 105 N/m2 2.00 · 105 N/m2
L 0.0705 m 0.0698 m
ωd,x|f −0.99 · 10−3 N −1.54 · 10−2 N
ωd,y|f 0.02 · 10−3 N −9.07 · 10−3 N
ωd,z|f 0.01 · 10−3 N 2.07 · 10−2 N
ωd,x|m −0.04 · 10−3 Nm 2.71 · 10−2 Nm
ωd,y|m −0.15 · 10−3 Nm −2.33 · 10−2 Nm
ωd,z|m 4.69 · 10−3 Nm −1.74 · 10−1 Nm