Elaheh Arefinia

Error-State Model Predictive Path Integral Control of Tendon-Driven Continuum Robots Using Cosserat Rod Dynamics With Strain Parametrization

This paper presents an error-state Model Predictive Path Integral (MPPI) framework for tendon-driven continuum robots (TDCRs). Tracking-error dynamics are formulated on a Lie group to preserve full pose geometry, yielding precise position-orientation error metrics. A nonlinear Cosserat-rod model wit