5 accepted papers
In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Our approach leverages the Clarke transform, the Euler-Lagrange formalism, and the piecewise constant curvature assumption
Concentric tube continuum robots utilize nested tubes, which are subject to a set of inequalities. Current approaches to account for inequalities rely on branching methods such as if-else statements. It can introduce discontinuities, may result in a complicated decision tree, has a high wall-clock t…
Establishing a physics-based model capturing the kinetostatic behavior of concentric tube continuum robots is challenging as elastic interactions between the flexible tubes constituting the robot result in a highly non-linear problem. The Goldstandard physics-based model using the Cosserat theory of…
We introduce a methodology to compute the inverse kinematics for concentric tube continuum robots from a desired shape as input. We demonstrate that it is possible to accurately learn joint parameters using neural networks for a discrete point-wise shape representation with different discretization.…
This paper investigates the influence of different joint space and orientation representations on the approximation of the forward kinematics. We consider all degrees of freedom in three dimensional space SE(3) and in the robot's joint space Q. In order to approximate the forward kinematics, differe…