Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation.
Takahisa KatoIchiro OkumuraHidekazu KoseKiyoshi TakagiNobuhiko HataPublished in: Int. J. Comput. Assist. Radiol. Surg. (2016)
Keyphrases
- force control
- mobile robot
- parallel robot
- end effector
- inverse kinematics
- degrees of freedom
- configuration space
- loop closing
- autonomous robots
- vision system
- data driven
- robot navigation
- path planning
- robot manipulators
- humanoid robot
- skill learning
- joint space
- robot arm
- human robot interaction
- multi robot
- motion planning
- joint angles
- control strategy
- goal directed
- trajectory planning
- position and orientation
- rough terrain
- kinematic model
- obstacle avoidance
- manipulation tasks
- human robot
- service robots
- physical constraints
- robotic systems
- real robot