This video accompanies the paper "A geometrical approach to inverse kinematics for continuum manipulators" available at http://www.ece.msstate.edu/wiki/index.php/Robotics_research_group#Publications . The red segment shows base of the robot; the end of the blue segment shows the robot's tip at a fixed point in space. White lines show the two triangles used to compute the end of each segment. This video shows how changing the line which connects the base of the red segment to the base of the blue segment (termed r1 in the paper) changes the shape of the resulting trunk.
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