Phanideep S. Gonthina — accepted AI-conference papers

2020

Mechanics for Tendon Actuated Multisection Continuum Arms

Phanideep S. Gonthina, Michael B. Wooten, Isuru S. Godage, Ian D. Walker

ICRA 2020poster

Tendon actuated multisection continuum arms have high potential for inspection applications in highly constrained spaces. They generate motion by axial and bending deformations. However, because of the high mechanical coupling between continuum sections, variable length-based kinematic models produc…

Cited by 18 Source ↗Scholar ↗

2019

Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves

Phanideep S. Gonthina, Apoorva D. Kapadia, Isuru S. Godage, Ian. D. Walker

ICRA 2019poster

In this paper, we propose and investigate a new approach to modeling variable curvature continuum robot sections, based on Euler spirals. Euler spirals, also termed Clothoids, or Cornu spirals, are those curves in which the curvature increases linearly with their arc length. In this work, Euler spir…

Cited by 73 Source ↗Scholar ↗