This is the video presentation for the paper below. In it, we detail modeling, sensing, and kinetostatic control for parallel continuum robots.
C. B. Black, J. Till and D. C. Rucker, "Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing," in IEEE Transactions on Robotics, vol. 34, no. 1, pp. 29-47, Feb. 2018, doi: 10.1109/TRO.2017.2753829
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