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Online TCP Trajectory Planning for Redundant Continuum Manipulators using Quadratic Programming

V. Falkenhahn, F. Bender, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), page 1163--1168. Banff, Kanada, (July 2016)

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Valentin Leipe University of Stuttgart

Valentin Kamm University of Stuttgart

Valentin Wagner University of Stuttgart

Valentin Bayer University of Stuttgart

Valentin Honold University of Stuttgart

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Model-based feed-forward position control of constant curvature continuum robots using feedback linearizationV. Falkenhahn, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE International Conference on Robotics and Automation (ICRA), page 762-767. Piscataway, NJ, IEEE, (2015)Online TCP Trajectory Planning for Redundant Continuum Manipulators using Quadratic ProgrammingV. Falkenhahn, F. Bender, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), page 1163--1168. Banff, Kanada, (July 2016)Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler-Lagrange FormalismV. Falkenhahn, T. Mahl, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE transactions on robotics, 31 (6): 1483-1496 (2015)Trajectory Optimization of Pneumatically Actuated, Redundant Continuum ManipulatorsV. Falkenhahn, A. Hildebrandt, and O. Sawodny. American Control Conference (ACC), page 4008--4013. Portland, OR, USA, (May 2014)Modellierung und modellbasierte Regelung von Kontinuum-ManipulatorenV. Falkenhahn. Universität Stuttgart, Aachen, Dissertation, (2017)Offline Trajectory Planning of a Pneumatically Actuated, Continuum Manipulator on the Example of the Bionic Handling AssistantV. Falkenhahn, A. Hildebrandt, and O. Sawodny. International Fluid Power Conference (IFK), 2, page 456--463. Aachen, Germany, (March 2014)Dynamic Control of the Bionic Handling AssistantV. Falkenhahn, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE/ASME Transactions on Mechatronics, 22 (1): 6--17 (February 2016)Configuration space impedance control for continuum manipulatorsL. Toscano, V. Falkenhahn, A. Hildebrandt, F. Braghin, and O. Sawodny. 2015 6th International Conference on Automation, Robotics and Applications (ICARA 2015), page 597-602. Piscataway, NJ, IEEE, (2015)Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalismV. Falkenhahn, T. Mahl, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE/ RSJ International Conference on Intelligent Robots and Systems (IROS), page 2428--2433. Chicago, IL, USA, (September 2014)Dynamic Control of the Bionic Handling AssistantV. Falkenhahn, A. Hildebrandt, R. Neumann, and O. Sawodny. IEEE ASME transactions on mechatronics, 22 (1): 6-17 (2017)