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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Zheng-Qiang Zhang

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2 papers indexed here

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Preprint Sep 2026

Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots

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
Preprint Sep 2026

Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation

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

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