Uniform Regulation of a Multi-Section Continuum Manipulator

@inproceedings{Gravagne2002UniformRO,
  title={Uniform Regulation of a Multi-Section Continuum Manipulator},
  author={Ian A. Gravagne and Ian D. Walker},
  booktitle={ICRA},
  year={2002}
}
Continuum manipulators are robotic manipulators built using one continuous, elastic, and highly deformable " backbone " instead of multiple rigid links and joints. I n previous work, we illuminated various kinematic and dynamic properties of continuum robots, but the question of controller design remained open. This paper presents a basic result for continuum robots that has long been knoum for rigid-link robots: that a simple PD-plus-feedforward controller can exponentially regulate the… CONTINUE READING
Highly Cited
This paper has 52 citations. REVIEW CITATIONS

4 Figures & Tables

Topics

Statistics

051015'02'04'06'08'10'12'14'16'18
Citations per Year

52 Citations

Semantic Scholar estimates that this publication has 52 citations based on the available data.

See our FAQ for additional information.