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cs.RO2021
Orientation to Pose: Continuum Robots Shape Sensing Based on Piecewise Polynomial Curvature Model
Hao Cheng, Hongji Shang, Bin Lan +3
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robo…
cs.RO2020★ 1 cited
Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation
Hao Cheng, Houde Liu, Xueqian Wang +1
The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and…