A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.
Rrt*-based path planning for continuum arms
2 Pith papers cite this work. Polarity classification is still indexing.
2
Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
A vision-guided hybrid rigid-soft manipulator achieves consistent sub-2cm reaching in unseen cluttered environments via shape-aware planning and learning control without environment-specific retraining.
citing papers explorer
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Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.
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HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
A vision-guided hybrid rigid-soft manipulator achieves consistent sub-2cm reaching in unseen cluttered environments via shape-aware planning and learning control without environment-specific retraining.