Reconstruction of continuum robots by marker-free shape registration of image data using a kinematic model
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2405.15336v2 Announce Type: replace Abstract: Continuum robots are slender, flexible manipulators that navigate confined, curved workspaces and are gaining traction in aerospace, inspection, automation, and minimally invasive medical applications. Predicting their shape from physics-based models alone remains challenging, making accurate measurement of the deformed backbone essential for model validation and reference-data acquisition.