{"paper":{"title":"Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bj{\\o}rn K{\\aa}re S{\\ae}b{\\o}, Harald Minde Hansen, Jan Tommy Gravdahl, Kristin Y. Pettersen, Mario di Castro","submitted_at":"2026-05-18T17:50:22Z","abstract_excerpt":"Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods, including N4SID, ARX, and SINDYc, for modeling a tendon-actuated continuum robot with rolling joints developed at CERN. Despite the high number of joints of the robot, experimental analysis reveals that a two-degree-of-freedom dynamic model can accurately capture the system dynamics, owing to strong kinematic dependencies between the joints. The models are vali"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.18720","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.18720/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-20T00:01:59.041192Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"d5438611d321dc3783e7554ed32ef7bc9f51b87feaf0b5007c2f2b98acf01f27"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}