Preprint
Sep 2026
Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation
Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, axially compressible TDCRs that propagates equilibrium configurations along prescribed tendon-force and tendon-displacement trajectories. The...
Ke Wu, Fang-Ju Yang, Xiao-Hui Zhang et al.
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