2026
Online Jacobian Estimation and Tracking Control of a Two-Section Tendon-Driven Continuum Robot
ICRA 2026poster
This paper proposes a control framework for a two-section, concentrically tendon-driven continuum robot. The tracking control is formulated based on a Jacobian approach using zeroing dynamics. The Jacobian is estimated online from input–output data, using applied tendon force as inputs and measured …