Analytic Formulation for Kinematics, Statics, and Shape Restoration of Multibackbone Continuum Robots Via Elliptic Integrals

By Kai Xu, Nabil Simaan. 2010

253 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/9fb241a11f8266b565febd84ab0f507df0cb1d5a

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. D. C. Rucker
2. Jessica Burgner-Kahrs
3. Howie Choset
4. Michael C. Yip
5. David B. Camarillo
6. Robert J. Webster III
7. Oliver Sawodny
8. Yuting Liu

In Control and Systems Engineering

1. D. C. Rucker
2. Michael C. Yip
3. David B. Camarillo
4. Robert J. Webster III
5. Howie Choset
6. Jessica Burgner-Kahrs
7. Oliver Sawodny
8. Yuting Liu

Citations in the corpus

• A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant (2014, background): “Rated as the most accurate, variable curvature (vc) continuum kinematics that are based on equilibrium conformations of Cosserat-rod models [21]–[25] and other elastic beam theories [8], [26] are proposed in the literature.”
• 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].”
• Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading (2011, background): “Recent models that account for both have been derived for continuum robots with pneumatic actuation [6], [7], multiple flexible push-pull rods [8], [9], and a backbone that consists of concentric, precurved tubes [10].”
• Continuum Robots for Medical Applications: A Survey (2015, methodology): “The planar, large-deflection, Bernoulli–Euler elastica theory and its analytical solution in terms of elliptic functions have been used to describe the exact mechanics of planar robot curves [122].”
• Three-Dimensional Dynamics for Cable-Driven Soft Manipulator (2017, methodology): “[15] K. Xu and N. Simaan, “Analytic formulation for kinematics, statics, and shape restoration of multibackbone continuum robots via elliptic integrals,” ASME J. Mech.”