Under CopyrightJung, P.P.JungLeyendecker, S.S.LeyendeckerLinn, J.J.LinnOrtiz, M.M.Ortiz2022-03-0720.5.20092009https://publica.fraunhofer.de/handle/publica/29433810.24406/publica-fhg-294338en003006519Discrete Lagrangian mechanics and geometrically exact Cosserat rodsreport