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Deep Koopman Approach for Nonlinear Dynamics and Control of Tendon-Driven Continuum Robots
Tendon-driven continuum robots (TDCRs) have received widespread attention in the
medical domain due to their slender shape and flexibility. Modeling the dynamics of TDCRs …
medical domain due to their slender shape and flexibility. Modeling the dynamics of TDCRs …
Comparison of Classical, Neural Network and Hybrid Models for Hysteretic Single-tendon Catheter Kinematics
While robotic control of catheter motion can improve tip positioning accuracy, hysteresis
arising from tendon friction and flexural deformation degrades kinematic modeling accuracy …
arising from tendon friction and flexural deformation degrades kinematic modeling accuracy …
Neural Configuration Distance Function for Continuum Robot Control
This paper presents a novel method for modeling the shape of a continuum robot as a
Neural Configuration Euclidean Distance Function (N-CEDF). By learning separate distance …
Neural Configuration Euclidean Distance Function (N-CEDF). By learning separate distance …
Modélisation et utilisation de la compliance des robots continus: application aux robots à tubes concentriques.
G Lods - 2024 - theses.hal.science
Initialement développés pour automatiser les industries manufacturières, les robots sont
désormais utilisés pour réaliser des interventions chirurgicales. Avec la volonté de …
désormais utilisés pour réaliser des interventions chirurgicales. Avec la volonté de …