Reconstruction of continuum robots by marker-free shape registration of image data using a kinematic model
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来源：arXiv cs.RO发布时间待核实
arXiv:2405.15336v2 Announce Type: replace Abstract: Continuum robots are slender, flexible manipulators that navigate confined, curved workspaces and are gaining traction in aerospace, inspection, automation, and minimally invasive medical applications. Predicting their shape from physics-based models alone remains challenging, making accurate measurement of the deformed backbone essential for model validation and reference-data acquisition.