Recent Articles and Multimedia
Paper Title: Constrained Path Planning for Soft Continuum Robots with Bernstein Surfaces
Authors: Maxwell Hammond, Ean Lovett, Vincenzo Pugliese, Venanzio Cichella, and Caterina Lamuta
Trajectory generation for continuum robots can be approached as an optimal control problem with constraints derived from the partial differential equations of Cosserat rod dynamics. This manuscript presents a framework and corresponding experimental results for addressing this problem using a Bernstein polynomial basis with non-unit quaternions.
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Experimental results showcasing the continuum robot following the generated path, which was generated to avoid a cross-shaped obstacle to reach a target tip position. 1