3 papers
cs.RO2025
Clarke Transform and Encoder-Decoder Architecture for Arbitrary Joints Locations in Displacement-Actuated Continuum Robots
Reinhard M. Grassmann, Jessica Burgner-Kahrs
In this paper, we consider an arbitrary number of joints and their arbitrary joint locations along the center line of a displacement-actuated continuum robot. To achieve this, we r…
cs.RO2024
Clarke Transform -- A Fundamental Tool for Continuum Robotics
Reinhard Grassmann, Anastasiia Senyk, Jessica Burgner-Kahrs
This article introduces the Clarke transform and Clarke coordinates, which present a solution to the disengagement of an arbitrary number of coupled displacement actuation of conti…
cs.RO2024
Clarke Transform and Clarke Coordinates -- A New Kid on the Block for State Representation of Continuum Robots
Reinhard M. Grassmann, Jessica Burgner-Kahrs
For almost all tendon-driven continuum robots, a segment is actuated by three or four tendons constrained by its mechanical design. For both cases, methods to account for the const…