24 citations · 24 across the 8 of their papers we have counts for
4 papers · 2 filters
Using Clarke Transform to Create a Framework on the Manifold: From Sampling via Trajectory Generation to Control
Reinhard M. Grassmann, Jessica Burgner-Kahrs
We present a framework based on Clarke coordinates for spatial displacement-actuated continuum robots with an arbitrary number of joints. This framework consists of three modular c…
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…
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…
On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots
Reinhard M. Grassmann, Anastasiia Senyk, Jessica Burgner-Kahrs
Concentric tube continuum robots utilize nested tubes, which are subject to a set of inequalities. Current approaches to account for inequalities rely on branching methods such as…