Robot Evolution: The Development of Anthrobotics
Robot Evolution: The Development of Anthrobotics
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Design, analysis and experimentation: the fundamentals of continuum robotic manipulators
Design, analysis and experimentation: the fundamentals of continuum robotic manipulators
Nonholonomic Modeling of Needle Steering
International Journal of Robotics Research
The Robot: The Life Story of a Technology (Greenwood Technographies)
The Robot: The Life Story of a Technology (Greenwood Technographies)
CoRdE: Cosserat rod elements for the dynamic simulation of one-dimensional elastic objects
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion constrained control of robots for dexterous surgical tasks
Motion constrained control of robots for dexterous surgical tasks
Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat
International Journal of Robotics Research
Mechanics of precurved-tube continuum robots
IEEE Transactions on Robotics
Image guidance of flexible tip-steerable needles
IEEE Transactions on Robotics
Configuration tracking for continuum manipulators with coupled tendon drive
IEEE Transactions on Robotics
Torsional kinematic model for concentric tube robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Three dimensional statics for continuum robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Motion planning for active cannulas
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Design and control of concentric-tube robots
IEEE Transactions on Robotics
Equilibrium Conformations of Concentric-tube Continuum Robots
International Journal of Robotics Research
A geometrically exact model for externally loaded concentric-tube continuum robots
IEEE Transactions on Robotics
Geometric integration on Euclidean group with application to articulated multibody systems
IEEE Transactions on Robotics
Kinematics for multisection continuum robots
IEEE Transactions on Robotics
Practical Kinematics for Real-Time Implementation of Continuum Robots
IEEE Transactions on Robotics
Discretization of a Continuous Curve
IEEE Transactions on Robotics
An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots
IEEE Transactions on Robotics
Geometrically Exact Models for Soft Robotic Manipulators
IEEE Transactions on Robotics
Mechanics Modeling of Tendon-Driven Continuum Manipulators
IEEE Transactions on Robotics
A novel mechatronic tool for computer-assisted arthroscopy
IEEE Transactions on Information Technology in Biomedicine
Equilibrium Conformations of Concentric-tube Continuum Robots
International Journal of Robotics Research
Haptic feedback and control of a flexible surgical endoscopic robot
Computer Methods and Programs in Biomedicine
International Journal of Robotics Research
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Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applications, coordinate frame choices, and analytical formalisms employed. In this paper we review several modeling approaches in a common frame and notational convention, illustrating that for piecewise constant curvature, they produce identical results. This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific. These mappings are then developed both for the single-section and for the multi-section case. Similarly, we discuss the decomposition of differential kinematics (the robotâ聙聶s Jacobian) into robot-specific and robot-independent portions. The paper concludes with a perspective on several of the themes of current research that are shaping the future of continuum robotics.