Rod models in continuum and soft robot control: a review
Continuum and soft robots can positively impact diverse sectors, from biomedical
applications to marine and space exploration, thanks to their potential to adaptively interact …
applications to marine and space exploration, thanks to their potential to adaptively interact …
A fuzzy reinforcement learning approach for continuum robot control
M Goharimanesh, A Mehrkish… - Journal of Intelligent & …, 2020 - Springer
Continuum robots (CRs) hold great potential for many medical and industrial applications
where compliant interaction within the potentially confined environment is required …
where compliant interaction within the potentially confined environment is required …
Toward task autonomy in robotic cardiac ablation: Learning-based kinematic control of soft tendon-driven catheters
The goal of this study was to propose and validate a control framework with level-2
autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a …
autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a …
Control framework for trajectory planning of soft manipulator using optimized RRT algorithm
This paper proposes a model-free control framework for the path planning of the rigid and
soft robotic manipulator using an intelligent algorithm called Weighted Jacobian Rapidly …
soft robotic manipulator using an intelligent algorithm called Weighted Jacobian Rapidly …
Medical microrobot-wireless manipulation of a drug delivery carrier through an external ultrasonic actuation: Preliminary results
To achieve precise and untethered clinical therapeutics, microrobots have been widely
researched. However, because conventional microrobot actuation is based on magnetic …
researched. However, because conventional microrobot actuation is based on magnetic …
A novel tip-positioning control of a magnetically steerable guidewire in sharply curved blood vessel for percutaneous coronary intervention
This paper suggests a novel method for the positioning control of a magnetically steerable
guidewire without needing to detect a tip angle, which can pass through sharply curved …
guidewire without needing to detect a tip angle, which can pass through sharply curved …
A task learning mechanism for the telerobots
Telerobotic systems have attracted growing attention because of their superiority in the
dangerous or unknown interaction tasks. It is very challenging to exploit such systems to …
dangerous or unknown interaction tasks. It is very challenging to exploit such systems to …
Imitation-based motion planning and control of a multi-section continuum robot interacting with the environment
IA Seleem, H El-Hussieny, H Ishii - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Recently, flexible robots are growing in importance owing to their merits over rigid robots in
maneuverability and safety, which equips them to work in unstructured environments, such …
maneuverability and safety, which equips them to work in unstructured environments, such …
Variable impedance control of cable actuated continuum manipulators
G He, Y Fan, T Su, L Zhao, Q Zhao - International Journal of Control …, 2020 - Springer
Continuum manipulators are a class of special compliant robots that have important
potential applications in the field of human-machine interactive operations, or work in …
potential applications in the field of human-machine interactive operations, or work in …
Probabilistic kinematic model of a robotic catheter for 3D position control
B Yu, JG Fernández, T Tan - Soft robotics, 2019 - liebertpub.com
Continuum robots offer compliant and dexterous operations, which are suitable to be used in
unstructured environments. Tendon-driven catheters, owing to their continuum structure, are …
unstructured environments. Tendon-driven catheters, owing to their continuum structure, are …