Comparative study shows that data-driven identification yields accurate two-degree-of-freedom dynamic models for a high-joint-count tendon-driven continuum robot due to kinematic dependencies, supporting real-time MPC.
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Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot
Comparative study shows that data-driven identification yields accurate two-degree-of-freedom dynamic models for a high-joint-count tendon-driven continuum robot due to kinematic dependencies, supporting real-time MPC.