Related papers: Continuum Robot Modeling with Action Conditioned F…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-parallel tendon routing for TDCRs have shown definite advantages…
This paper presents a learning-based approach for accurately estimating the 3D shape of flexible continuum robots subjected to external loads. The proposed method introduces a spatiotemporal neural network architecture that fuses…
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…
Continual learning in robotics seeks systems that can constantly adapt to changing environments and tasks, mirroring human adaptability. A key challenge is refining dynamics models, essential for planning and control, while addressing…
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…
This paper presents a learning-based approach for centralized position control of Tendon Driven Continuum Robots (TDCRs) using Deep Reinforcement Learning (DRL), with a particular focus on the Sim-to-Real transfer of control policies. The…
This paper focuses on the optimal design of a tendon-driven continuum robot (TDCR) based on its feasible static workspace (FSW). The TDCR under consideration is a two-segment robot driven by eight tendons, with four tendon actuators per…
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jacobian-based controllers often struggle with…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-chain coupling induces strong dynamic interactions and…
Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…
Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…