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cs.RO2024
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks
Jordan Thompson, Brian Y. Cho, Daniel S. Brown +1
Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce unce…
cs.RO2024★ 2 cited
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network
Brian Y. Cho, Daniel S. Esser, Jordan Thompson +3
Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the inv…