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.
The first interlaced continuum robot, devised to intrinsi- cally follow the leader.PloS One, 11(2):e0150278
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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.