An incremental guide to continuum robot mathematical modeling and numerical implementation. The examples are divided into chapters within the folder structure, and each chapter contains a PDF and code examples.
SoRoSim: A MATLAB Toolbox for Hybrid Soft-Rigid Robots
This repository visualises a single section tendon driven continuum robot based on Piecewise Constant Curvature (PCC) method using ROS and RVIZ
Repository for "Inverse Kinematics of Tendon Driven Continuum Robots using Invertible Neural Network" (CompAuto 2022)
Jun, 2021 - Mar, 2023. Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong (HKU). Manuscript received 15 November 2022; accepted 9 March 2023. This work was supported by the General Research Fund under Grant 17204222, and in part by the Seed Funding for Strategic Interdisciplinary Research Scheme and Platform Technology Fund.
Implemented calibration and computer-vision algorithms for an existing multi-camera system to capture the motion and shape sense of neurosurgical tendon-driven continuum robots under the Continuum Robotics Laboratory and University of Toronto Robotics Institute.
A MATLAB Toolbox for Efficient Simulation and Control of Flexible Robots
A deeplearning based Koopman approach for modeling the nonlinear dynamics of tendon driven continuum robots.
C++ static library for implementing the forward and inverse kinematics of a three-tube concentric tube robot (CTR) based on the Cosserat Theory.
Physics-based simulation and stiffness design for medical continuum robots, with 12 reproducible experiments on nonlinear rod mechanics, insertion, contact, friction, and uncertainty.
CCR-IK: Image-to-joint (I2J) inverse kinematics estimation of a cooperative continuum Robot (CCR)
Design system for the Physicalized Agent: a low-cost healthcare sensor head that computes vectors instead of guesses, governs locally, and streams to BROAD over WebTransport/QUIC.
Python benchmark toolkit for tendon-driven continuum robot (TDCR) modeling, featuring constant-curvature, piecewise, Cosserat, and pseudo-rigid-body models with trajectory animation and interactive 3D visualization.
Reinforcement learning approach (PPO) for control of a simulated tendon-driven continuum robot
RL control of underactuated soft pneumatic manipulators. PPO in a Cosserat-rod simulator (PyElastica), with dynamics and domain randomization for sim-to-real robustness.
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