Quasi-static Path Planning for Continuum Robots By Sampling on Implicit Manifold
Yifan Wang,Yue Chen,Yifan Wang,Yue Chen
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while considering external elastic contact is limited. The challenge lies in the fact that CRs can have multiple possible configurations when in contact, rendering the f...