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Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation
The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and research of continuum robots are usually based on the assumption of piecewise constant curvature (PCC). However, due to the influence of friction, etc., the …