Clarke坐标统一了软体机器人状态参数化方法，打破原有局限。
Clarke Coordinates Are Generalized Improved State Parametrization for Continuum Robots
- 用广义克拉克变换矩阵推导出多种改进参数化方法
- 支持任意关节数量与分布，超越现有约束
- 为软体机器人跨领域知识迁移提供基础工具
本文证明，此前针对软体与连续体机器人提出的改进状态参数化方法均为克拉克坐标的具体形式。通过显式推导这些参数化方法来自一个通用的克拉克变换矩阵，我们将其统一为一个完整的数学框架。该统一表示明确了各方法之间的关系，并将它们推广至任意关节数量、关节分布及建模假设的场景。这一整合凝聚了以往的洞见，确立了克拉克坐标作为软体与连续体机器人领域的基础工具，实现了不同子领域间系统性知识迁移。
原文摘要 · Abstract (English)
In this letter, we demonstrate that previously proposed improved state parameterizations for soft and continuum robots are specific cases of Clarke coordinates. By explicitly deriving these improved parameterizations from a generalized Clarke transformation matrix, we unify various approaches into one comprehensive mathematical framework. This unified representation provides clarity regarding their relationships and generalizes them beyond existing constraints, including arbitrary joint numbers, joint distributions, and underlying modeling assumptions. This unification consolidates prior insights and establishes Clarke coordinates as a foundational tool, enabling systematic knowledge transfer across different subfields within soft and continuum robotics.
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