Model-based control of soft robots: A survey of the state of the art and open challenges
From a functional standpoint, classic robots are not at all similar to biological systems. If
compared with rigid robots, animals' bodies look overly redundant, imprecise, and weak …
compared with rigid robots, animals' bodies look overly redundant, imprecise, and weak …
[HTML][HTML] A survey on design, actuation, modeling, and control of continuum robot
J Zhang, Q Fang, P ** for high-throughput micromanipulation
Although robotic micromanipulation using microtweezers has been widely explored, the
current manipulation throughput hardly exceeds one operation per second. Increasing the …
current manipulation throughput hardly exceeds one operation per second. Increasing the …
Cosserat rod-based dynamic modeling of tendon-driven continuum robots: A tutorial
This article provides a tutorial on the dynamic modeling of continuum robots. Continuum
robots (CRs) have gained popularity in recent years due to their flexible backbone structure …
robots (CRs) have gained popularity in recent years due to their flexible backbone structure …
Parallel continuum robots: Modeling, analysis, and actuation-based force sensing
CB Black, J Till, DC Rucker - IEEE Transactions on Robotics, 2017 - ieeexplore.ieee.org
Parallel continuum robots (PCRs) combine the compactness, simplicity, and compliance of
continuum robots with the precision and strength of rigid-link parallel robots. In this paper …
continuum robots with the precision and strength of rigid-link parallel robots. In this paper …
Transendoscopic flexible parallel continuum robotic mechanism for bimanual endoscopic submucosal dissection
In endoscopic submucosal dissection (ESD), the gastrointestinal (GI) tract warrants the
surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses …
surgical instruments to navigate through a long, narrow and tortuous endoscope. This poses …
Kinetostatic modeling of tendon-driven parallel continuum robots
Tendon-driven parallel continuum robots (PCR) consist of multiple individual continuous
kinematic chains, that are actuated in bending utilizing tendons routed along their …
kinematic chains, that are actuated in bending utilizing tendons routed along their …