8 accepted papers
Continuum robots offer unique advantages for applications such as minimally invasive surgery, navigation through confined environments, and safe human-robot interaction. However, while most continuum robot segments are designed to exhibit constant curvature over their length, they passively deform i
Continuum robots offer unique advantages for applications such as minimally invasive surgery, navigation through confined environments, and safe human-robot interaction. However, while most continuum robot segments are designed to exhibit constant curvature over their length, they passively deform i…
Equation (9) in [1] was calculated from $\mathbf {J}=\mathbf {U}^\top \mathbf {U}$ and is thus inconsistent with (7) in [1], which defines the decomposition as $\mathbf {J}=\mathbf {U}\mathbf {U}^\top$. The correct parameter mapping $\boldsymbol{\pi }=\mathbf {f}(\boldsymbol{\theta })$ consistent wi
Cosserat rod models are widely used to simulate, design, and control soft robots. The Cosserat framework accounts for bending, torsion, transverse shear, and elongation of a long, slender structure and correctly handles large rotations and deflections in 3D, while being far less computationally expe…
Endoscopic Submucosal Dissection (ESD) is an effective minimally invasive approach to removing colon cancer, yet it is underutilized, since it is challenging to learn and perform. To promote the adoption of ESD by making it easier, we propose a system in which two small, flexible robotic manipulator
Cosserat rod models are widely used to simulate, design, and control soft robots. The Cosserat framework accounts for bending, torsion, transverse shear, and elongation of a long, slender structure and correctly handles large rotations and deflections in 3D, while being far less computationally expe
Underactuation is a core challenge associated with controlling soft and continuum robots, which possess theoreti-cally infinite degrees of freedom, but few actuators. However, mm actuators may still be used to control a dynamic soft robot in an m-dimensional output task space. In this paper we devel…
A reliable, accurate, and yet simple dynamic model is important to analyze, design and control continuum manipulators. Such models should be fast, as simple as possible and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeli…