A Continuum Manipulator with Closed-form Inverse Kinematics and Independently Tunable Stiffness
Bin Zhao,Lingyun Zeng,Baibo Wu,Kai Xu,Bin Zhao,Lingyun Zeng,Baibo Wu,Kai Xu
Continuum manipulators can accomplish various tasks in confined spaces, benefiting from their compliant structures and improved dexterity. Confined and unstructured spaces may require both enhanced stiffness of a continuum manipulator for precision and payload, as well as compliance for safe interaction. Thus, studies have been consistently dedicated to design continuum or articulated manipulators...
