A Dataset and Benchmark for Learning the Kinematics of Concentric Tube Continuum Robots
Reinhard M. Grassmann,Ryan Zeyuan Chen,Nan Liang,Jessica Burgner-Kahrs,Reinhard M. Grassmann,Ryan Zeyuan Chen,Nan Liang,Jessica Burgner-Kahrs
Establishing a physics-based model capturing the kinetostatic behavior of concentric tube continuum robots is challenging as elastic interactions between the flexible tubes constituting the robot result in a highly non-linear problem. The Goldstandard physics-based model using the Cosserat theory of elastic rods achieves reasonable approximations with 1.5 - 3 % with respect to the robot's length, ...