Conventional methods to characterize the workspace, manipulability, kinematics, etc. cannot be applied to continuum robots directly. At LKR we investigate methods for parameterization of task- and application-specific continuum robots.
M. Neumann, J. Burgner-Kahrs:
Considerations for Follow-the-Leader Motion of Extensible Tendon-driven Continuum Robots.
IEEE International Conference on Robotics and Automation, pp. 917 - 923, 2016
J. Burgner-Kahrs, H.B. Gilbert, J. Granna, P.J. Swaney, R.J. Webster III:
Workspace Characterization for Concentric Tube Continuum Robots.
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1269-1275, 2014.
Finalist Best Application Paper Award
J. Granna, J. Burgner:
Characterizing the Workspace of Concentric Tube Continuum Robots.
ISR International Symposium on Robotics, pp. 730-736, 2014.