TY - GEN
T1 - Motion Control for Continuum Robots
T2 - 17th International Conference on Intelligent Robotics and Applications, ICIRA 2024
AU - Du, Zupeng
AU - Yang, Laihao
AU - Sun, Yu
AU - Chen, Xuefeng
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - Continuum robots with soft, deformable and multi-degree-of-freedom features can adapt to complex environments and perform tasks flexibly, therefore, gradually reflecting important application values in minimally invasive surgery, deep cavity exploration and other fields. To enable continuum robots to perform tasks dexterously and adaptively in complex environments, their motion control is crucial. Traditional model-based control methods require accurate system modelling, have high environmental and structural requirements, and face real-time and computational complexity challenges. With the continuous development of robotics, model-free control and hybrid-model control have become two important approaches to solve the motion control problems of continuum robots. This review systematically summarizes the current status of research on model-free and hybrid-model control for continuum robots in recent years, and discusses in depth the advantages and disadvantages as well as the challenges of the various methods, so as to provide guidance for the coming followers, and to promote the further development and application of continuum robots.
AB - Continuum robots with soft, deformable and multi-degree-of-freedom features can adapt to complex environments and perform tasks flexibly, therefore, gradually reflecting important application values in minimally invasive surgery, deep cavity exploration and other fields. To enable continuum robots to perform tasks dexterously and adaptively in complex environments, their motion control is crucial. Traditional model-based control methods require accurate system modelling, have high environmental and structural requirements, and face real-time and computational complexity challenges. With the continuous development of robotics, model-free control and hybrid-model control have become two important approaches to solve the motion control problems of continuum robots. This review systematically summarizes the current status of research on model-free and hybrid-model control for continuum robots in recent years, and discusses in depth the advantages and disadvantages as well as the challenges of the various methods, so as to provide guidance for the coming followers, and to promote the further development and application of continuum robots.
KW - Continuum robot
KW - Hybrid-model control
KW - Model-free control
UR - https://www.scopus.com/pages/publications/85218446648
U2 - 10.1007/978-981-96-0780-8_27
DO - 10.1007/978-981-96-0780-8_27
M3 - 会议稿件
AN - SCOPUS:85218446648
SN - 9789819607792
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 372
EP - 391
BT - Intelligent Robotics and Applications - 17th International Conference, ICIRA 2024, Proceedings
A2 - Lan, Xuguang
A2 - Mei, Xuesong
A2 - Jiang, Caigui
A2 - Zhao, Fei
A2 - Tian, Zhiqiang
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 31 July 2024 through 2 August 2024
ER -