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.
Design and control of a tendon-driven continuum robot.Transactions of the Institute of Mea- surement and Control, 40(11):3263–3272
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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.