Control circuits simplification and computer programs design on bipedal robot
Robotics and Computer-Integrated Manufacturing
The New Design of Digital Servo Robot Controller
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
Design of a modular assembly of four-footed robots with multiple functions
Robotics and Computer-Integrated Manufacturing
Sensor-based guidance control of a continuum robot for a semi-autonomous colonoscopy
Robotics and Autonomous Systems
Mechanics of precurved-tube continuum robots
IEEE Transactions on Robotics
Configuration tracking for continuum manipulators with coupled tendon drive
IEEE Transactions on Robotics
Design and Application of High-Sensitivity Hexapod Robot
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
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
Study of a 2-DOF joint for the small active cord mechanism
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A model-based sliding mode controller for extensible continuum robots
ISPRA'10 Proceedings of the 9th WSEAS international conference on Signal processing, robotics and automation
Design of a novel snake-like robotic colonoscope
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Intrinsic wrench estimation and its performance index for multisegment continuum robots
IEEE Transactions on Robotics
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
Design of a hexapod robot with a servo control and a man-machine interface
Robotics and Computer-Integrated Manufacturing
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This paper introduces three algorithms which are essential for the practical, real-time implementation of continuum robots. Continuum robots lack the joints and links which compose traditional and high-degree-of-freedom robots, instead relying on finite actuation mechanisms to shape the robot into a smooth curve. Actuator length limits shape the configuration or joint space of continuum manipulators, introducing couplings analyzed in this paper which must be understood to make effective use of continuum robot hardware. Based on the new understanding of the configuration space uncovered, this paper then derives the workspace of continuum robots when constrained by actuator length limits. Finally, a tangle/untangle algorithm correctly computes the shape of the distal segments of multisection tendon-actuated continuum robots. These contributions are essential for effective use of a wide range of continuum robots, and have been implemented and tested on two different types of continuum robots. Results and insight gained from this implementation are presented