With the continuous improvement of automation, industrial robots have become an
indispensable part of automated production lines. They are widely used in a number of …

Continuum robots can traverse anatomical pathways to intervene in regions deep inside the
human body. They are able to steer along 3D curves in confined spaces and dexterously …

The rapidly exploring random tree and its variants (RRTs) have been widely adopted as the
motion planning algorithms for mobile robots. However, the trap space problem, such as …

In this paper, we present a novel path planning algorithm called Kinematic Constrained Bi-
directional Rapidly-exploring Random Tree with Efficient Branch Pruning (KB-RRT*), which …

Path planning is crucial for several applications, including those in industrial facilities,
network traffic, computer games, and agriculture. Enabling automated path-planning …

Minimally Invasive Surgery (MIS) evolved as an alternative to open surgical approaches,
and resulted in reduced surgical trauma and faster recovery. However, the confined …

Continuum arms are bio-inspired devices that exhibit continuous, smooth bending and
generate motion through structural deformation. Rapidly-exploring random trees (RRT) is a …

Existing static and kinematic models of concentric tube robots are based on the ordinary
differential equations of a static Cosserat rod. In this article, we provide the first dynamic …

The steerable needle becomes appealing in the neurosurgery intervention procedure
because of its flexibility to bypass critical regions inside the brain; with proper path planning …

In the last few decades, Nitinol (NiTi) actuators have created a massive impact at the
commercial level due to their application in various engineering and medical fields. In this …