RL-accelerated OSQP for real-time asymmetric corotational beam contact simulation in continuum robots
The real-time simulation of highly deformable slender structures interacting with complex, irregular boundaries remains a computationally demanding challenge in computational mechanics. A prominent motivating application for this fundamental problem is the navigation of continuum surgical robots within narrow anatomica...
H. S. Chen, Jian Chen, Shuai Wang et al.
· Computer Methods in Applied... · 0 citations