Add Daniel and Cosimo as authors and cite the PCS paper in all docs

Author: mstoelzle

docs/api/pcs.md

@@ -1,10 +1,10 @@
 # PCS Systems (General)
 
-The general Piecewise Constant Strain (PCS) implementation provides the core modeling framework for continuum soft robots.
+The general Piecewise Constant Strain (PCS) implementation provides the core modeling framework for continuum soft robots, based on the discrete Cosserat approach proposed by Renda et al. (2018).
 
 ## Overview
 
-This module contains the fundamental PCS implementation that serves as the foundation for more specialized PCS variants. It provides the core mathematical framework for modeling continuum robots using piecewise constant strain assumptions.
+This module contains the fundamental PCS implementation that serves as the foundation for more specialized PCS variants. It provides the core mathematical framework for modeling continuum robots using piecewise constant strain assumptions, following the discrete Cosserat approach for multisection soft manipulator dynamics.
 
 ## API Reference
 
@@ -16,3 +16,9 @@ This module contains the fundamental PCS implementation that serves as the found
       group_by_category: true
       docstring_section_style: table
       members_order: source
+
+## References
+
+The PCS (Piecewise Constant Strain) model was originally proposed in:
+
+Renda, F., Boyer, F., Dias, J., & Seneviratne, L. (2018). Discrete cosserat approach for multisection soft manipulator dynamics. *IEEE Transactions on Robotics*, 34(6), 1518-1533.

docs/api/planar-pcs-sym.md

@@ -1,10 +1,10 @@
 # Planar PCS Symbolic Systems
 
-The symbolic implementation of Planar PCS systems provides pre-computed symbolic expressions for kinematics and dynamics, offering improved computational performance.
+The symbolic implementation of Planar PCS systems provides pre-computed symbolic expressions for kinematics and dynamics, offering improved computational performance. This implementation is based on the discrete Cosserat approach by Renda et al. (2018).
 
 ## Overview
 
-This module contains symbolic derivations of the PCS model equations, which are pre-computed using SymPy and then implemented in JAX for fast execution. This approach eliminates the need for numerical differentiation during runtime.
+This module contains symbolic derivations of the PCS model equations, based on the discrete Cosserat approach for multisection soft manipulator dynamics (Renda et al., 2018), which are pre-computed using SymPy and then implemented in JAX for fast execution. This approach eliminates the need for numerical differentiation during runtime.
 
 ## API Reference
 
@@ -16,3 +16,9 @@ This module contains symbolic derivations of the PCS model equations, which are
       group_by_category: true
       docstring_section_style: table
       members_order: source
+
+## References
+
+The PCS (Piecewise Constant Strain) model was originally proposed in:
+
+Renda, F., Boyer, F., Dias, J., & Seneviratne, L. (2018). Discrete cosserat approach for multisection soft manipulator dynamics. *IEEE Transactions on Robotics*, 34(6), 1518-1533.

docs/api/planar-pcs.md

@@ -1,10 +1,10 @@
 # Planar PCS Systems
 
-The Planar Piecewise Constant Strain (PCS) systems provide implementations for 2D soft continuum robots using the Cosserat rod theory with piecewise constant strain assumptions.
+The planar Piecewise Constant Strain (PCS) systems provide implementations for 2D soft continuum robots using the Cosserat rod theory with piecewise constant strain assumptions, based on the discrete Cosserat approach by Renda et al. (2018).
 
 ## Overview
 
-The PCS model divides the continuum robot into segments, each with constant strain properties. This approach provides a good balance between computational efficiency and modeling accuracy for soft continuum robots.
+The PCS model divides the continuum robot into segments, each with constant strain properties. This approach, originally proposed by Renda et al. (2018), provides a good balance between computational efficiency and modeling accuracy for soft continuum robots.
 
 ## Main Implementation
 
@@ -16,3 +16,9 @@ The PCS model divides the continuum robot into segments, each with constant stra
       group_by_category: true
       docstring_section_style: table
       members_order: source
+
+## References
+
+The PCS (Piecewise Constant Strain) model was originally proposed in:
+
+Renda, F., Boyer, F., Dias, J., & Seneviratne, L. (2018). Discrete cosserat approach for multisection soft manipulator dynamics. *IEEE Transactions on Robotics*, 34(6), 1518-1533.

docs/api/pneumatic-planar-pcs.md

@@ -1,10 +1,10 @@
 # Pneumatically Actuated Planar PCS
 
-Pneumatically actuated Planar PCS systems with pressure-based actuation mechanisms.
+Pneumatically actuated Planar PCS systems with pressure-based actuation mechanisms, extending the discrete Cosserat approach by Renda et al. (2018).
 
 ## Overview
 
-This module extends the planar PCS model to include pneumatic actuation, where the robot is actuated by controlling internal pressure in chambers or bellows. This actuation method is common in soft pneumatic robots.
+This module extends the planar PCS model (based on the discrete Cosserat approach by Renda et al., 2018) to include pneumatic actuation, where the robot is actuated by controlling internal pressure in chambers or bellows. This actuation method is common in soft pneumatic robots.
 
 ## API Reference
 
@@ -16,3 +16,9 @@ This module extends the planar PCS model to include pneumatic actuation, where t
       group_by_category: true
       docstring_section_style: table
       members_order: source
+
+## References
+
+The PCS (Piecewise Constant Strain) model was originally proposed in:
+
+Renda, F., Boyer, F., Dias, J., & Seneviratne, L. (2018). Discrete cosserat approach for multisection soft manipulator dynamics. *IEEE Transactions on Robotics*, 34(6), 1518-1533.

docs/api/tendon-planar-pcs.md

@@ -1,10 +1,10 @@
 # Tendon Actuated Planar PCS
 
-Tendon actuated Planar PCS systems with cable-driven actuation mechanisms.
+Tendon actuated Planar PCS systems with cable-driven actuation mechanisms, extending the discrete Cosserat approach by Renda et al. (2018).
 
 ## Overview
 
-This module extends the planar PCS model to include tendon actuation, where the robot is actuated by controlling the tension in cables or tendons. This actuation method provides precise control and is commonly used in cable-driven continuum robots.
+This module extends the planar PCS model (based on the discrete Cosserat approach by Renda et al., 2018) to include tendon actuation, where the robot is actuated by controlling the tension in cables or tendons. This actuation method provides precise control and is commonly used in cable-driven continuum robots.
 
 ## API Reference
 
@@ -16,3 +16,9 @@ This module extends the planar PCS model to include tendon actuation, where the
       group_by_category: true
       docstring_section_style: table
       members_order: source
+
+## References
+
+The PCS (Piecewise Constant Strain) model was originally proposed in:
+
+Renda, F., Boyer, F., Dias, J., & Seneviratne, L. (2018). Discrete cosserat approach for multisection soft manipulator dynamics. *IEEE Transactions on Robotics*, 34(6), 1518-1533.

docs/authors.md

@@ -9,7 +9,7 @@ This project is developed and maintained by researchers from the Physical Intell
 Postdoctoral Researcher  
 Physical Intelligence (PhI) Lab, TU Delft
 
-**Contact:** <[email protected]>
+**Contact:** <[email protected]> | <[email protected]>
 
 **Links:**
 
@@ -35,6 +35,36 @@ MSc Student & Research Intern
 
 Solange contributes to the theoretical foundations and implementation of the library, with expertise in continuum mechanics and soft robot modeling.
 
+---
+
+### Daniel Feliu Talegon
+
+Postdoctoral Researcher  
+Physical Intelligence (PhI) Lab, TU Delft
+
+**Links:**
+
+- [:fontawesome-brands-github: GitHub](https://github.com/DanielFeliuT91)
+- [:fontawesome-brands-linkedin: LinkedIn](https://www.linkedin.com/in/daniel-feliu-talegon-3492a2161/)
+- [:fontawesome-solid-graduation-cap: Google Scholar](https://scholar.google.com/citations?user=gCtANb8AAAAJ&hl=de&oi=ao)
+
+Daniel is a Postdoctoral Researcher at the PhI Lab contributing to the development and research of soft robotics systems.
+
+---
+
+### Cosimo Della Santina
+
+Principal Investigator 
+Physical Intelligence (PhI) Lab, TU Delft
+
+**Links:**
+
+- [:fontawesome-solid-globe: Website](https://cosimodellasantina.eu)
+- [:fontawesome-brands-linkedin: LinkedIn](https://www.linkedin.com/in/cosimodellasantina/)
+- [:fontawesome-solid-graduation-cap: Google Scholar](https://scholar.google.com/citations?user=7RAU5jYAAAAJ&hl=en)
+
+Cosimo is the Principal Investigator of the Physical Intelligence Lab and leads the research direction of the project.
+
 ## Maintainers
 
 The project is actively maintained by:
@@ -48,3 +78,14 @@ We welcome contributions from the community! If you're interested in contributin
 ## Acknowledgments
 
 This work is supported by the Physical Intelligence (PhI) Lab at TU Delft and benefits from collaborations with researchers worldwide working on soft robotics and continuum mechanics.
+
+### Theoretical Foundations
+
+We gratefully acknowledge the foundational contributions of Prof. Federico Renda, Prof. Frederic Boyer, and Dr. Anup Teejo Mathew, along with all other researchers who developed the soft robot strain models (including PCS - Piecewise Constant Strain, GVS - Geometric Variable-Strain, and other approaches) that are implemented in this library. Their pioneering work in continuum mechanics for soft robotics and the development of modeling frameworks has made this JAX implementation possible.
+
+### Inspiration
+
+This package was inspired by **SoRoSim**, a MATLAB toolbox for hybrid rigid-soft robots. We acknowledge the pioneering work of the SoRoSim team in making soft robot modeling accessible to the research community.
+
+**Reference:**  
+Mathew, A. T., Hmida, I. B., Armanini, C., Boyer, F., & Renda, F. (2022). Sorosim: A matlab toolbox for hybrid rigid–soft robots based on the geometric variable-strain approach. *IEEE Robotics & Automation Magazine*, 30(3), 106-122.