A PINN embedding Cosserat rod mechanics achieves sub-1% mean shape error for 6-DoF concentric tube robots using minimal training data and outperforms a pure physics baseline.
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Closed-form relations and higher-order approximations for the first and second derivatives of the tangent operator on SE(3) are provided in compact matrix form.
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Few-Shot Physics-Informed Neural Network for Shape Reconstruction of Concentric-Tube Robots
A PINN embedding Cosserat rod mechanics achieves sub-1% mean shape error for 6-DoF concentric tube robots using minimal training data and outperforms a pure physics baseline.
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Closed Form Relations and Higher-Order Approximations of First and Second Derivatives of the Tangent Operator on SE(3)
Closed-form relations and higher-order approximations for the first and second derivatives of the tangent operator on SE(3) are provided in compact matrix form.