4 papers
Active Stiffness Control of a Supportive Continuum Robot
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechanically coupling it with a supportive arm. However, their passive sti…
Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-…
Hybrid Visual Servoing of Tendon-driven Continuum Robots
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBV…
Backstepping Control of Tendon-Driven Continuum Robots in Large Deflections Using the Cosserat Rod Model
Rana Danesh, Farrokh Janabi-Sharifi
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their f…