A conditional point-cloud flow matching model maps motor actuation to 3D geometry of tendon-driven continuum robots and outperforms prior self-modeling methods on simulated and real 2- and 3-module hardware.
On the merits of helical tendon routing in continuum robots
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Continuum Robot Modeling with Action Conditioned Flow Matching
A conditional point-cloud flow matching model maps motor actuation to 3D geometry of tendon-driven continuum robots and outperforms prior self-modeling methods on simulated and real 2- and 3-module hardware.