Luhao Xie

Curvature-Based Continuous Steering of Stiffness-Dominant Concentric Tube Robots (I)

Existing works on controlling a concentric tube robot (CTR) mostly focus on the trajectory of its tip position or pose. In order to safely send CTRs in a confined lumen space, we propose to continuously steer the CTRs so that its entire shape will always attempt to approximate target curves over tim…