An incremental guide to continuum robot mathematical modeling and numerical implementation. The examples are divided into chapters within the folder structure, and each chapter contains a PDF and code examples.

SoRoSim: A Unified Framework for Soft Robotics Modelling

This repository visualises a single section tendon driven continuum robot based on Piecewise Constant Curvature (PCC) method using ROS and RVIZ

Jun, 2021 - Mar, 2023. Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong (HKU). Manuscript received 15 November 2022; accepted 9 March 2023. This work was supported by the General Research Fund under Grant 17204222, and in part by the Seed Funding for Strategic Interdisciplinary Research Scheme and Platform Technology Fund.

Implemented calibration and computer-vision algorithms for an existing multi-camera system to capture the motion and shape sense of neurosurgical tendon-driven continuum robots under the Continuum Robotics Laboratory and University of Toronto Robotics Institute.

Repository for "Inverse Kinematics of Tendon Driven Continuum Robots using Invertible Neural Network" (CompAuto 2022)

C++ static library for implementing the forward and inverse kinematics of a three-tube concentric tube robot (CTR) based on the Cosserat Theory.