Continuum robot dynamic models have previously involved a choice between high accuracy, numerically intensive models, and low accuracy, computationally efficient models. The objective of this paper is to provide an accurate dynamic model with low computational overhead. Our approach is to place point masses at the center of gravity of the continuum section, rather than along the robot’s backbon...

We propose a new kind of continuum robot based on crossed elastic strips. The actuator-specified location of the crossover point controls the lengths of the sections, enabling a wider range of configurations than would be possible with traditional fixedsection-length robots. Push-pull actuation of the crossed strips controls the curvature of the sections. We provide a model that describes the r...

Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject external interaction, potentially leading poor control performance. In this letter, we investigate the feasibility of adopting a model-free multiagent reinforcement learning (RL), namely deep Q network (MADQN), 2-degre...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

High fidelity, compliant robot control requires a sufficiently accurate dynamics model. Often though, it is not possible to obtain a dynamics model sufficiently accurately or at all using analytical methods. In such cases, an alternative is to learn the dynamics model from movement data. This thesis discusses the problems specific to dynamics learning for control under nonstationarity of the dy...

Motion planning and redundancy resolution of a multi-segment continuum robot is studied. The direct and inverse kinematics model of the robot is derived assuming a constant radius of curvature in each flexible segment of the robot. Due to the primary and secondary backbone structure of the segment, each segment is modelled by two configuration variables and three joint space variables. This int...

We consider the issues that arise from an examination of the continuum between two social learning paradigms that are widely used in robotics research: (i) following or matched-dependent behaviour and (ii) static observational learning. We use physical robots with minimal sensory capabilities and exploit controllers using neural network based methods for agent-centred perception of model angle ...

Path planning is indispensable in performing the inspection task using continuum robot in the environment like aircraft fuel tank. In order to obtain the optimal path and make it feasible for the robot traversal, a path planning strategy based on region division is put forward. The aircraft fuel tank is divided into several regions and mapped to a two-dimension plane by using dimension reductio...

in this paper, a higher order continuum model is presented based on the cosserat continuum theory in 3d numerical simulation of shear band localization. as the classical continuum models suffer from the pathological mesh-dependence in strain softening models, the governing equations are regularized by adding the rotational degrees-of-freedom to conventional degrees-of-freedom. the fundamental r...