Kinematics for multisection continuum robots

By Bryan A. Jones, Ian D. Walker. IEEE Transactions on robotics, 2006

895 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/68fc18079d7777ab0383405d19a193bdf5c02971

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

Mechanics of Precurved-Tube Continuum Robots (2009, background): “, a series of circular arcs [30] or more general curves).”
Mechanics Modeling of Tendon-Driven Continuum Manipulators (2008, background): “Jones and Walker developed a modular kinematic framework for a multisection elephant trunk robot [18].”
Model-Less Feedback Control of Continuum Manipulators in Constrained Environments (2014, methodology): “We then can estimate the derivative terms by a ﬁrst-order approximation, where Tendon-driven continuum manipulators are often redundantly actuated in order to achieve bidirectional actuation [24].”
Design, kinematics, and control of a soft spatial fluidic elastomer manipulator (2016, methodology): “…et al., 2006; Kang et al., 2013; Suzumori et al., 1991) and medium pressure (30 psi max) (Chen et al., 2006) PMAs as well as tendons and cables (Jones and Walker, 2006b; Hannan and Walker, 2003; McMahan et al., 2005; Wang et al., 2013) first make the assumption that segments are deforming…”
Continuous Backbone “ Continuum ” Robot Manipulators : A Review (2013, neutral): “It is fairly straightforward to chain together multiple section models to model a multisection robot; see [18] for details.”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, methodology): “…et al. (2009), Rucker et al. (2010a), Dupont et al. (2010), and Trivedi et al. (2008a)), and the elucidation of various parsimonious modeling simplifications, including the constant-curvature approximation (see, e.g., Hannan and Walker (2003), Jones and Walker (2006a), and Webster et al. (2009)).”
A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant (2014, methodology): “To achieve the desired manipulator motion, one or more serially connected and individually controlled sections are deformed using actuation principles like tendon drives [3], [4], precurved tubes [7], [8], and fluid-driven muscles or bellows [6], [9].”
Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators (2020, background): “Existing solutions of the inverse-kinematics problem are neglecting the consideration of the pose of the end effector [9,29].”
Geometrically Exact Models for Soft Robotic Manipulators (2008, methodology): “Previous researchers have used linear [3], [4] and constant-curvature models [5]–[7].”
Continuum Robots for Medical Applications: A Survey (2015, background): “H parameters [104], [105], Frenet–Serret frames [104], integral representation [18], and exponential coordinates [59], [106].”
Control Strategies for Soft Robotic Manipulators: A Survey (2018, methodology): “For multisection continuum/soft manipulators, each CC section can be stitched together to provide the piecewise constant curvature (PCC) model.(16) Concurrently, a more complex modeling approach using beam theory was pursued using beam theory(14) and Cosserat rod theory.”