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