Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

By Robert J. Webster III, Bryan A. Jones. Int. J. Robotics Res., 2010

2,124 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/f0dfe127a576737d3e28313defaccf763fca18b4

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In Biomedical Engineering

In Ocean Engineering

Citations in the corpus

Dynamic Model of a Multibending Soft Robot Arm Driven by Cables (2014, background): “Since ξ is the tangent field of g , this means that the rotational component of g (s) (i.e., in SO(3)) is constant and that the local first axis x has been fixed perpendicular to section s (see Fig.”
Continuous Backbone “ Continuum ” Robot Manipulators : A Review (2013, neutral): “Summaries of early developments in the field have appeared [19, 20].”
Three-Dimensional Dynamics for Cable-Driven Soft Manipulator (2017, background): “Thus, the kinematic can be decomposed into two mappings [3].”
Continuum Robots for Medical Applications: A Survey (2015, background): “The segment-to-segment transformations for this framework are reviewed in [15] (figure adapted from [59]).”
Control Strategies for Soft Robotic Manipulators: A Survey (2018, positive): “Comprehensive reviews of control strategies for continuum robotic manipulators 3,9–12 are primarily focused on de-sign, fabrication, modeling, and sensing.”
A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant (2014, background): “The BHA, a manipulator whose complex structure is completely made of laser-sintered polyamide [38], belongs to the class of biomimic continuum robots with a variable section curvature.”
Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges (2021, methodology): “” The kinematic description (1) of PCC robots has been intensively used for more than a decade in continuum robotics, as proved by the seminal review article [36], published in 2010.”
Interaction Forces of Soft Fiber Reinforced Bending Actuators (2017, background): “ity, a multidegree-of-freedom (DOF) actuator could consists of several small single-chamber bending actuator segments [27], [36].”
Design, kinematics, and control of a soft spatial fluidic elastomer manipulator (2016, methodology): “L, k, and g) as reviewed in Webster and Jones (2010).”
STIFF-FLOP surgical manipulator: Mechanical design and experimental characterization of the single module (2013, background): “The use of such technology is eased by the wide available literature in terms of modelization [20] and application cases [21].”
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading (2011, background): “This yields analytically simple kinematics and has been experimentally demonstrated on several different robots [5].”