Maximilian Hachen

A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots

Tendon-driven continuum robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must navigate narrow and confined spaces. We propose a model predictive controller (MPC) to leverage the non-linear kinematics and redundancy of TDCRs for who