FABRIKx: Tackling the Inverse Kinematics Problem of Continuum Robots with Variable Curvature

FABRIKx: Tackling the Inverse Kinematics Problem of Continuum Robots with Variable Curvature

A continuum robot is a unique type of robots which move because of the elastic deformation of their bodies. The kinematics of such robots is typically described using constant curvature assumption. Such an assumption, however, does not completely describe the kinematics of a real-life continuum robo...

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Bibliographic Details
Main Authors: Dmitrii Kolpashchikov, Olga Gerget, Viacheslav Danilov
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Robotics
Subjects:
continuum robots
inverse kinematics
forward kinematics
FABRIK
Online Access:https://www.mdpi.com/2218-6581/11/6/128

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