A new sampling-based planner for follow-the-leader motion of manipulator-mounted continuum robots that computes base pose via closed-form geometry, achieves 0% tip error in simulation, and is validated on hardware.
Continuum robot with follow-the-leader motion for endoscopic third ventricu- lostomy and tumor biopsy.IEEE Transactions on Biomedical Engineering, 67(2):379–390
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Sampling-Based Follow-the-Leader Motion Planning for Manipulator-Mounted Continuum Robots
A new sampling-based planner for follow-the-leader motion of manipulator-mounted continuum robots that computes base pose via closed-form geometry, achieves 0% tip error in simulation, and is validated on hardware.