Orientation to Pose: Continuum Robots Shape Reconstruction Based on the Multi-Attitude Solving Approach
Hao Cheng,Hejie Xu,Hongji Shang,Xueqian Wang,Houde Liu,Bin Liang,Hao Cheng,Hejie Xu,Hongji Shang,Xueqian Wang,Houde Liu,Bin Liang
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape reconstruction of continuum robots is vital to realize closed-loop control. This paper proposes a novel general real-time shape reconstruction framework of continuum robots based on the piecewise polynomial curvature (PPC) kinematics model. We i...
