5 papers
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…
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…
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 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…