This article proposes an adaptive trajectory control method for under-actuated snake robots
by simplifying the control and actuation systems of hyper-redundant robots. The under …

In this paper, a modeling, cooperative planning and compliant control method is presented
for multi-arm space continuous robots in target manipulation. Firstly, according to the closed …

Abstract Models of continuum robots often trade off accuracy and speed. The constant
curvature assumption model can perform fast calculations but with poor accuracy. Static …

This letter investigates the mathematical relationships between the positions and
orientations at the segment tips of a piecewise constant curvature (PCC) continuum robot …

Multi-section continuum robots'(CRs) behavior is still an outstanding problem because of the
highly non-linearity of its equation of motions. To this end, in this paper, particle swarm …

Labyrinth-like paths, clustered environments where a traditional rigid robot cannot fit the bill
due to their rigid links and their inability to adapt to these kinds of paths, thus it would be …

revolute (6R) robot manipulators with offset wrists are widely applied in industrial scenarios.
However, the autonomous and highly-precise manipulations of these robots are restricted …

Continuum robots have increasingly attracted attention from the scholars in the last two
decades, owing to their distinct features of hyper-redundant degrees of freedom (DOF) …

This paper presents a comprehensive exploration of two meta-heuristic optimization
techniques, Teaching Learning-Based Optimization (TLBO) and Particle Swarm …

Performance evaluation and inverse kinematics (IK) for continuum robots are always hard
and time-consuming. In this paper, an efficient dexterity evaluation algorithm based on IK …