A geometry deformation model for compound continuum manipulators with external loading

@article{Sadati2016AGD,
  title={A geometry deformation model for compound continuum manipulators with external loading},
  author={S. M. Hadi Sadati and Ali Shiva and Ahmad Ataka and S. Elnaz Naghibi and Ian D. Walker and Kaspar Althoefer and Thrishantha Nanayakkara},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  pages={4957-4962}
}
The complexity of soft continuum manipulators with hybrid and tuneable structures poses a challenging task to achieve an inverse kinematics model which is both precise and computationally efficient for control and optimization purposes. In this paper, a new method based on the principle of virtual work and a geometry deformation approach is presented for the inverse kinematics model of the STIFF-FLOP arm which is a pneumatically actuated continuum manipulator. We propose a novel simplified and… CONTINUE READING

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