A backbone-based inverse kinematics and head traction path-following algorithm for soft manipulators
This paper introduces an inverse kinematics solution and a path-following method for a tendon-driven soft manipulator. The inverse kinematics problem is addressed using a modified backbone method, where the spatial backbone is defined by the modal function to accommodate various mission requirements...
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| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806241312787 |
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