A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots

Maximillian Hachen, Chengnan Shentu, Sven Lilge +1

Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces.…