Mechanics of Precurved-Tube Continuum Robots

By Robert J. Webster III, Joseph M. Romano, Noah John Cowan. IEEE Transactions on robotics, 2009

470 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Mechanical Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/5257a8eac875e37de3f3d522535fc67bfa186b21

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Biomedical Engineering

1. Daniela Rus
2. Andrew D. Marchese
3. D. C. Rucker
4. David B. Camarillo
5. Michael C. Yip
6. Robert J. Webster III
7. Jessica Burgner-Kahrs
8. Howie Choset

In Mechanical Engineering

1. Bryan A. Jones
2. D. C. Rucker
3. Robert J. Webster III
4. Howie Choset
5. Jessica Burgner-Kahrs
6. Michael C. Yip
7. David B. Camarillo
8. Daniela Rus

In Ocean Engineering

1. Daniela Rus
2. Andrew D. Marchese
3. D. C. Rucker
4. Bryan A. Jones
5. Jessica Burgner-Kahrs
6. Howie Choset
7. Robert J. Webster III

Citations in the corpus

• Design, kinematics, and control of a soft spatial fluidic elastomer manipulator (2016, methodology): “First, Gravagne et al. (2003), Webster et al. (2009) and Trivedi et al. (2008) use Bernoulli–Euler beam mechanics to predict the deformation of continuum robots.”
• Continuum Robots for Medical Applications: A Survey (2015, methodology): “Concentric-tube robots are composed of multiple, precurved, elastic tubes that are nested inside of each other [59], [60].”
• A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots (2010, unknown): “Using the nominal parameter values (those that were directly measured or appeared on data sheets; for further discussion of active cannula nominal parameters, variances, and error propagation in model parameters, see [3]) listed in Table I, the mean tip error over all 80 experiments was 5.94 mm.”
• Real-time dynamics of soft and continuum robots based on Cosserat rod models (2019, background): “In some robots, elastic instability due to robot structure (Webster et al., 2009) or loading conditions (Till and Rucker, 2017b) can result in a sudden, dynamic movement of the robot even when actuator commands are slowly changing.”
• Model-Less Feedback Control of Continuum Manipulators in Constrained Environments (2014, background): “For continuum manipulators, models have been developed for specific architectures that use tendons [10], [13], [14]; pre-curved concentric tubes [6], [8], [15]–[23]; pneumatics channels [24], [25]; shape-memory-alloy actuators [26]–[29]; and multibackbone actuators [30]–[33].”
• Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, methodology): “Under this assumption and with circular curvature preformed into each component tube, the active cannula consists of piecewise constant-curvature links (Webster et al 2006b Sears and Dupont 2006; Webster et al. 2009) as shown in Figure 12.”