Neural Configuration Distance Function for Continuum Robot Control
Contextual Robotics Institute, University of California San Diego（加州大学圣地亚哥分校情境机器人学研究所）；Robotics Department, University of Michigan（密歇根大学机器人学系）；Toyota Motor North America, Research & Development（丰田北美研发中心）
This paper presents a novel method for modeling the shape of a continuum robot as a Neural Configuration Euclidean Distance Function (N-CEDF). By learning separate distance fields for each link and combining them through the kinematics chain, the learned N-CEDF provides an accurate and computationally efficient representation of the robot's shape. The key advantage of a distance function representation of a continuum robot is that it enables efficient collision checking for motion planning in dynamic and cluttered environments, even with point-cloud observations. We integrate the N-CEDF into a Model Predictive Path Integral (MPPI) controller to generate safe trajectories for multi-segment continuum robots. The proposed approach is validated for continuum robots with various links in several simulated environments with static and dynamic obstacles.
Efficient RRT*-based Safety-Constrained Motion Planning for Continuum Robots in Dynamic Environments
Southern University of Science and Technology（南方科技大学）；Jiaxing Research Institute, Southern University of Science and Technology（南方科技大学嘉兴研究院）；City University of Hong Kong（香港城市大学）
Accurate Open-Loop Control of a Soft Continuum Robot Using Visually Learned Latent Dynamics
Department of Advanced Interdisciplinary Studies, The University of Tokyo（东京大学先进跨学科研究科）；Institute of Assembly Technology and Robotics, Leibniz University Hannover（莱比锡大学装配技术与机器人研究所）；Research Center for Advanced Science and Technology, The University of Tokyo（东京大学先进科学研究中心）
Shape control of simulated multi-segment continuum robots via Koopman operators with per-segment projection
Department of Electrical Engineering and Computer Science University of Michigan, Ann Arbor, Michigan 48109, USA（密歇根大学电气工程与计算机科学系）；School for Engineering of Matter, Transport and Energy Arizona State University, Tempe, Arizona 85281, USA（亚利桑那州立大学工程物质、运输与能源学院）
A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
Robotics Department, Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)（Mohamed bin Zayed大学人工智能研究院机器人部门）；Hefei National Research Center for Physical Sciences at the Microscale, University of Science and Technology of China (USTC)（中国科学技术大学微尺度物理科学国家级研究中心）
Increasing Resilience of Continuum Robots via Motion Planning Algorithms
IHP – Leibniz-Institut für innovative Mikroelektronik（莱布尼茨创新微电子研究所）；BTU Cottbus-Senftenberg（科特博斯-塞芬堡工业大学）；Technical Center, National Academy of Sciences of Ukraine（乌克兰国家科学院技术中心）
Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots
Autonomous Systems Lab, Stanford University, USA（斯坦福大学自主系统实验室，美国）；Institute of Mechanical Systems, ETH Zurich, Switzerland（瑞士苏黎世联邦理工学院机械系统研究所）；Soft Robotics Lab, ETH Zurich, Switzerland（瑞士苏黎世联邦理工学院软机器人实验室）；NVIDIA Research, Santa Clara, USA（美国圣克拉拉NVIDIA研究）
A Synergistic Framework for Learning Shape Estimation and Shape-Aware Whole-Body Control Policy for Continuum Robots
School of Informatics, University of Edinburgh（爱丁堡大学信息学院）；Walker Department of Mechanical Engineering, the University of Texas at Austin（德克萨斯大学奥斯汀分校沃克机械工程系）
Modeling, control, and stiffness regulation of layer jamming-based continuum robots
Department of Electrical Engineering, Polytechnique Montréal and GERAD（电气工程系，蒙特利尔理工学院及GERAD）；Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney（机器人研究所，工程与信息技术学院，技术学院悉尼大学）
Learning-based Control for Tendon-Driven Continuum Robotic Arms
K. N. Toosi University of Technology（柯尼托西理工大学）；Center of Excellence in Robotics and Control（机器人与控制卓越中心）；Advanced Robotics and Automated Systems (ARAS)（高级机器人与自动化系统（ARAS））
Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
Technical University of Munich, TUM School of Engineering and Design（慕尼黑技术大学，工程与设计学院）；Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所）；Chair of Automatic Control（自动控制教授席）
College of Engineering, Peking University（北京大学工学院）；School of Mechanical Engineering, Northwestern Polytechnical University（西北工业大学机械工程学院）；School of Astronautics, Northwestern Polytechnical University（西北工业大学航空学院）
