Soft-CCD Algorithm for Inverse Kinematics of Soft Continuum Manipulators
Zhiyuan Zhang,Songtao Wang,Deshan Meng,Xueqian Wang,Bin Liang,Zhiyuan Zhang,Songtao Wang,Deshan Meng,Xueqian Wang,Bin Liang
To date, soft robots have been increasingly designed and analyzed, especially, Soft Continuum Manipulators (SCMs). Due to dexterous deformability, their Inverse Kinematics (IK) is still difficult to solve. Cyclic Coordinate Descent (CCD) algorithm is one of the classical optimization algorithms to solve IK of rigid manipulators with prismatic or rotational joints. However, it cannot be directly ex...
