Using Euler Curves to Model Continuum Robots
Priyanka Rao Quentin Peyron Jessica Burgner-Kahrs Priyanka Rao Quentin Peyron Jessica Burgner-Kahrs
Due to the continuous and flexible nature of continuum robot backbones and the infinite number of parameters required to represent them in configuration space, modeling them accurately and in real-time is challenging. While the constant curvature assumption provides a simple alternative, it is limited in its capabilities as it cannot account for external tip forces. In cases where the backbone dev...