A Geometric Design Approach for Continuum Robots by Piecewise Approximation of Freeform Shapes
Sicheng Wang,Laura H. Blumenschein,Sicheng Wang,Laura H. Blumenschein
As soft, continuum robots see increasing areas of application, many scenarios have arisen where it is necessary to consider the geometric shape of the robot. The current approaches to robot kinematics, such as the piecewise constant-curvature (PCC) model, are effective in representing simple overall robot geometry and estimating the end-effector state, but they are less intuitive for planning robo...
