Haijun Peng — accepted AI-conference papers

2022

Novel Design of a Cable-Driven Continuum Robot With Multiple Motion Patterns

Jie Zhang, Ziyun Kan, You Li, Zhigang Wu, Jianing Wu, Haijun Peng

RA-L 2022

Cable-driven continuum robots exhibit accessing and manipulation capabilities in constrained and cluttered environments that are unachievable for traditional robots composing of discrete links and joints. However, the existing continuum robots structured by non-scalable backbones are monofunctional,

Cited by 41 Source ↗Scholar ↗

2021

Real-Time Dynamics of Cable-Driven Continuum Robots Considering the Cable Constraint and Friction Effect

Zhongzhen Liu, Xingang Zhang, Zhiqin Cai, Haijun Peng, Zhigang Wu

RA-L 2021

In this letter, a novel dynamic model of a cable-driven continuum robot is established based on the principle of virtual power, in which the dynamically centralized length of the driving cable is used to simulate the driving process. This loading model implicitly represents the driving loads and exp

Cited by 43 Source ↗Scholar ↗