Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape.
申请公布号
WO2012005834(A3)
申请公布日期
2012.04.05
申请号
WO2011US38539
申请日期
2011.05.31
申请人
VANDERBILT UNIVERSITY;RUCKER, DANIEL, CALEB;WEBSTER, III, ROBERT JAMES