Design and analysis of hybrid-driven origami continuum robots with extensible and stiffness-tunable sections

2022 ◽  
Vol 169 ◽  
pp. 104607
Author(s):  
Zhuang Zhang ◽  
Shujie Tang ◽  
Weicheng Fan ◽  
Yuanhao Xun ◽  
Hao Wang ◽  
...  
Keyword(s):  
Continuum Robots

Neural Network Grasping Controller for Continuum Robots

2006 ◽  
Author(s):  
D. Braganza ◽  
D. M. Dawson ◽  
I. D. Walker ◽  
N. Nath
Keyword(s):  
Neural Network ◽  
Continuum Robots

Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing

2018 ◽  
Vol 34 (1) ◽  
pp. 29-47 ◽  
Author(s):  
Caroline B. Black ◽  
John Till ◽  
D. Caleb Rucker
Keyword(s):  
Force Sensing ◽  
Continuum Robots ◽  
Modeling Analysis

scholarly journals Dexterity Analysis of Three 6-DOF Continuum Robots Combining Concentric Tube Mechanisms and Cable-Driven Mechanisms

2017 ◽  
Vol 2 (2) ◽  
pp. 514-521 ◽  
Author(s):  
Liao Wu ◽  
Ross Crawford ◽  
Jonathan Roberts
Keyword(s):  
Continuum Robots

An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots

2008 ◽  
Vol 24 (3) ◽  
pp. 576-587 ◽  
Author(s):  
Kai Xu ◽  
Nabil Simaan
Keyword(s):  
Force Sensing ◽  
Continuum Robots

Optimal Design of Continuum Robots with Reachability Constraints

2021 ◽  
pp. 1-1
Author(s):  
Hyunmin Cheong ◽  
Mehran Ebrahimi ◽  
Timothy R. Duggan
Keyword(s):  
Optimal Design ◽  
Continuum Robots

Comparison of Inverse Kinematics Algorithms for Multi-Section Continuum Robots

2021 ◽  
Vol 22 (8) ◽  
pp. 420-424
Author(s):  
D. Yu. Kolpashchikov ◽  
O. M. Gerget
Keyword(s):  
Inverse Kinematics ◽  
Complex Geometry ◽  
Forward Kinematics ◽  
Non Destructive Testing ◽  
Invasive Procedures ◽  
Destructive Testing ◽  
Continuum Robots ◽  
Unique Type ◽  
Non Destructive ◽  
Constant Section

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

SoMo: Fast and Accurate Simulations of Continuum Robots in Complex Environments

2021 ◽  
Author(s):  
Moritz A. Graule ◽  
Clark B. Teeple ◽  
Thomas P. McCarthy ◽  
Grace R. Kim ◽  
Randall C. St. Louis ◽  
...  
Keyword(s):  
Complex Environments ◽  
Continuum Robots
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