3 accepted papers
A cable-driven continuum robot with high redundancy is capable of performing the tip trajectory tracking task while simultaneously satisfying additional safety constraints, such as joint limits or external obstacles in the environment. To address these challenges, efficient motion planning methods a…
Continuum robots possess intrinsic compliance, high flexibility, and continuously deformable structures, making them well-suited for safe human–robot interaction (HRI). However, their continuous backbone and high degrees of freedom pose significant challenges for real-time trajectory generation: mot…
In this paper, we employ multiple IMUs into a triple-section continuum manipulator to precisely capture the attitude data of each section’s end disk. Leveraging the sensory and mechanical hardware system, we construct a sophisticated coordinate transformation scheme to accurately identify the detail