Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature

This paper studies the kinematics of soft continuum robot via the lens of constrained optimization, achieving high-precision contact modelling.

Recommended citation: Zhouyu Zhang*, Jia Shen*, Junhyoung Ha, and Yue Chen (2024). IEEE Robotics and Automation Letters
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