A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant

@article{Mahl2014AVC,
  title={A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant},
  author={Tobias Mahl and Alexander Hildebrandt and Oliver Sawodny},
  journal={IEEE Transactions on Robotics},
  year={2014},
  volume={30},
  pages={935-949}
}
We present a new variable curvature continuum kinematics for multisection continuum robots with arbitrarily shaped backbone curves assembled from sections with three degrees of freedom (DoFs) (spatial bending and extension, no torsion). For these robots, the forward kinematics and the differential forward kinematics are derived. The proposed model approach is capable of reproducing both the constant and variable backbone curvature in a closed form. It describes the deformation of a single… CONTINUE READING
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