Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified actuation-space framework for planar multi-segment tendon-driven continuum robots. An energy-based variable-curvature model captures spatially...
Fang-Ju Yang, Si-Yi Ma, Tong-Hao Guan et al.· 0 citations
Forward kinetostatics of spatial tendon-driven continuum robots typically requires a nonlinear equilibrium solve for each actuation input. This paper develops a force-to-Cartesian-configuration model with a closed-form solution in quadratures for spatial multi-segment robots under tendon actuation. The Cartesian backbo...
Ke Wu, Fang-Ju Yang, Xiao-Hui Zhang et al.· 0 citations
Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, axially compressible TDCRs that propagates equilibrium configurations along prescribed tendon-force and tendon-displacement trajectories. The...
Ke Wu, Fang-Ju Yang, Xiao-Hui Zhang et al.· 0 citations
Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measured joint configurations and nominal tendon commands do not fully characterize these internal mechanical factors, leaving uncertainty in the...
Hang-Tao Yang, Ting-Cong Liu, Jun-Jie Xiong et al.· 0 citations
Soft and continuum robots enable manipulation through distributed body deformation and contact, yet translating language and visual context into executable whole-body actuation remains a fundamental challenge. We present SWIM, a framework that maps an initial RGB observation and a language instruction to a complete act...
Ting-Cong Liu, A. P. P. Aung, Jun-Jie Xiong et al.· 0 citations
Soft continuum robots can exploit distributed compliance for whole-body manipulation, but synthesizing behavior through changing contacts remains difficult. We address whole-body grasping and pick-and-throw from an initially ungrasped state through outcome-based actuation-space optimization. Grasping is quantified by t...
Marwah Basuhai, Ting-Cong Liu, Ibrahim Alsarraj et al.· 0 citations
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