2025
An Open-Source Snake Hole-Digging Inspired Safety-Critical Insertion Planning and Replanning Framework for Continuum Robots
IROS 2025
Continuum robots, with their slender, flexible structures, are increasingly utilized for navigating confined spaces via follow-the-leader (FTL) motion to minimize trauma. However, traditional FTL algorithms fail to adjust the entire robot configuration, including the tail, and struggle with navigati