Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum
Keshav Iyengar Danail Stoyanov Keshav Iyengar Danail Stoyanov
Concentric Tube Robots (CTRs), a type of continuum robot, are a collection of concentric, pre-curved tubes composed of super elastic nickel titanium alloy. CTRs can bend and twist from the interactions between neighboring tubes causing the kinematics and therefore control of the end-effector to be very challenging to model. In this paper, we develop a control scheme for a CTR end-effector in Carte...