A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.
Search-based path planning for a high dimensional ma- nipulator in cluttered environments using optimization-based primitives,
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Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.