Shape Representation and Modeling of Tendon-Driven Continuum Robots Using Euler Arc Splines

Due to the compliance of tendon-driven continuum robots, carrying a load or experiencing a tip force result in variations in backbone curvature. While the spatial robot configuration theoretically needs an infinite number of parameters for exact description, it can be well approximated using Euler A...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 3; pp. 1 - 8
Main Authors:	Rao, Priyanka, Peyron, Quentin, Burgner-Kahrs, Jessica
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Analytical models and Learning for Soft Robots Automatic Computational modeling Computing time Control Data models Disks Engineering Sciences Flexible Robotics Kinematics Modeling Parameterization Representations Robots Shape Splines (mathematics) Static models Three dimensional models Three-dimensional displays Control and Learning for Soft Robots Flexible Robotics Modeling Control and Learning for Soft Robots Flexible Robotics Kinematics Modeling Kinematics
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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