4 papers
PccDiffuser: Multi-solution Motion Planning for Continuum Robots
Ke Qiu, Sifan Chen, Si Wang +3
We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multipl…
Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Haojian Lu +2
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jac…
Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Fei Wang +3
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. Th…
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Ke Qiu, Jingyu Zhang, Danying Sun +3
Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics probl…