Mohamed Taha Chikhaoui — accepted AI-conference papers

2024

On High Performance Control of Concentric Tube Continuum Robots Through Parsimonious Calibration

Quentin Boyer, Sandrine Voros, Pierre Roux, François Marionnet, Kanty Rabenorosoa, Mohamed Taha Chikhaoui

RA-L 2024

Continuum robots deform continuously, compared to conventional robots composed of rigid links and joints, and require dedicated calibration methods. Indeed, calibration is an essential step to obtain high performance control, as it directly influences robot accuracy. In this letter, we investigate h

Cited by 3 Source ↗Scholar ↗

2019

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot With Three Extensible Segments

Mohamed Taha Chikhaoui, Sven Lilge, Simon Kleinschmidt, Jessica Burgner-Kahrs

RA-L 2019

Continuum robots actuated by tendons are a widely researched robot design offering high dexterity and large workspaces relative to their volume. Their flexible and compliant structure can be easily miniaturized, making them predestined for applications in difficult-to-reach and confined spaces. Adap

Cited by 78 Source ↗Scholar ↗

2018

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Andrey V. Kudryavtsev, Mohamed Taha Chikhaoui, Aleksandr Liadov, Patrick Rougeot, Fabien Spindler, Kanty Rabenorosoa +3

RA-L 2018

This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This app

Cited by 46 Source ↗Scholar ↗

2018

Toward Motion Coordination Control and Design Optimization for Dual-Arm Concentric Tube Continuum Robots

Mohamed Taha Chikhaoui, Josephine Granna, Julia Starke, Jessica Burgner-Kahrs

RA-L 2018

Dual-arm continuum robots have been considered mainly for teleoperation, where human perception and cognition permitted coordination, and collision-free motions. This letter describes theoretical investigations on automation of dual-arm robots constituted of two concentric tube continuum manipulator

Cited by 39 Source ↗Scholar ↗

2016

Design and closed-loop control of a tri-layer Polypyrrole based telescopic soft robot

Mohamed Taha Chikhaoui, Amélie Cot, Kanty Rabenorosoa, Patrick Rougeot, Nicolas Andreff

IROS 2016poster

A novel structure of a 2 DoF telescopic soft robot using a tri-layer Polypyrrole (PPy) soft micro-actuator with deployment is presented in this paper. The kinematic model is introduced and the Position Based Visual Servo (PBVS) control with path-planning and obstacle avoidance algorithms is develope…

Cited by 15 Source ↗Scholar ↗