Zobrazeno 1 - 10
of 95
pro vyhledávání: '"Burgner-Kahrs Jessica"'
We present a framework based on Clarke coordinates for spatial displacement-actuated continuum robots with an arbitrary number of joints. This framework consists of three modular components, i.e., a planner, trajectory generator, and controller defin
Externí odkaz:
http://arxiv.org/abs/2412.16422
In this paper, we consider an arbitrary number of joints and their arbitrary joint locations along the center line of a displacement-actuated continuum robot. To achieve this, we revisit the derivation of the Clarke transform leading to a formulation
Externí odkaz:
http://arxiv.org/abs/2412.16401
This article introduces the Clarke transform and Clarke coordinates, which present a solution to the disengagement of an arbitrary number of coupled displacement actuation of continuum and soft robots. The Clarke transform utilizes the generalized Cl
Externí odkaz:
http://arxiv.org/abs/2409.16501
For almost all tendon-driven continuum robots, a segment is actuated by three or four tendons constrained by its mechanical design. For both cases, methods to account for the constraints are known. However, for an arbitrary number of tendons, a disen
Externí odkaz:
http://arxiv.org/abs/2409.13826
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 including
Externí odkaz:
http://arxiv.org/abs/2409.13165
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over both arcl
Externí odkaz:
http://arxiv.org/abs/2409.12302
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 leverage the
Externí odkaz:
http://arxiv.org/abs/2409.09970
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 actuation a
Externí odkaz:
http://arxiv.org/abs/2402.14175
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
Externí odkaz:
http://arxiv.org/abs/2402.12587
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body. Consequentially, s
Externí odkaz:
http://arxiv.org/abs/2401.13540