24 citations · 24 across the 8 of their papers we have counts for
4 papers · 1 filter
Displacement-Actuated Continuum Robots: A Joint Space Abstraction
Reinhard M. Grassmann, Jessica Burgner-Kahrs
The displacement-actuated continuum robot as an abstraction has been shown as a key abstraction to significantly simplify and improve approaches due to its relation to the Clarke t…
Clarke Coordinates Are Generalized Improved State Parametrization for Continuum Robots
Reinhard M. Grassmann, Jessica Burgner-Kahrs
In this letter, we demonstrate that previously proposed improved state parameterizations for soft and continuum robots are specific cases of Clarke coordinates. By explicitly deriv…
Toward Dynamic Control of Tendon-driven Continuum Robots using Clarke Transform
Christian Muhmann, Reinhard M. Grassmann, Max Bartholdt +1
In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Ou…
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…