We introduce a new class of long and thin continuum robots intended for use in space applications. This cable robot is a next-generation version of the current state of the art (NASAs Tendril). The article describes the key practical limitations of the mechanical design of Tendril. We ...
Continuum Robots for Medical Applications: A Survey 来自 Semantic Scholar 喜欢 0 阅读量: 974 作者:J Burgner-Kahrs,DC Rucker,H Choset 摘要: In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by...
Space-Capable Long and Thin Continuum Robotic Cable 来自 tigerprints.clemson.edu 喜欢 0 阅读量: 31 作者: MM Tonapi 摘要: Design of continuum robots, i.e. robots with continuous backbones, has been an active area of research in robotics for minimally invasive surgery, search and rescue, ...
Continuum robots are increasingly being used in industrial and medical applications due to their high number of degrees of freedom (DoF), large workspace and their ability to operate dexterously . However, the positional accuracy of conventional continuum robots with a backbone structure is usually lo...
The lightweight UAV platform is a quadrotor constructed from aluminum metal, boasting an edge length of 318 mm. This UAV serves as a stable floating platform in three-dimensional space for the three-section continuum arm, which measures 630 mm in total length and 25 mm in cross-sectional...
Huang X, Zhu X, Gu G. Kinematic modeling and characterization of soft parallel robots. IEEE Trans Robot, 2022, 38: 3792–3806 ArticleGoogle Scholar Bajo A, Simaan N. Finding lost wrenches: Using continuum robots for contact detection and estimation of contact location. In: Proceedings of IEEE...
Continuum robots are complex structures that require sophisticated modeling and control methods to achieve accurate position and motion tracking along desired trajectories. They are highly coupled, nonlinear systems with multiple degrees of freedom that
Continuum manipulators are continuously bending robots with unlimited number of kinematic degrees of freedom. Most existing continuum manipulators have a central strut made of a single elastic material, and multiple cables placed around the strut are employed to actuate the manipulator. The kinematics fo...
"parallel continuum manipulators" have the potential to inherit some of the compactness and compliance of continuum robots while retaining some of the precision, stability, and strength of rigid-link parallel robots, yet they represent a relatively unexplored area of the broad manipulator design space...
The feasibility of employing deep reinforcement learning (DRL) for controlling cable-driven continuum robots has been investigated; however, a considerable gap between simulations and the real world exists. Here we introduce a deep reinforcement learning-based method, the Axis-Space (AS) framework, ...