Nicholas Baldassini

Sampling-Based Follow-the-Leader Motion Planning for Manipulator-Mounted Continuum Robots

Follow-the-leader (FTL) motion exploits the unique morphology of continuum robots (CRs) to navigate confined spaces by having the body retrace the path of the tip. While extensively studied, existing FTL methods typically assume a fixed base or a single degree-of-freedom insertion mechanism, limitin…