A Multimedia Framework for Continuum Robots: Systematic, Computational, and Control Perspectives

TL;DR

A unified framework for continuum robotic systems is introduced that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform.

Abstract

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses a significant limitation for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for continuum robotic systems that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform. The proposed method allows for efficient modeling and quick preview of the robot performance, and thus facilitating iterative design and implementation, with a view to enhancing the quality of robot developments.

Figures (10)

• Figure 1: Classification of robots proposed by trivedi2008soft.
• Figure 2: The previous version of continuum robot proposed by hsieh2024biomimetic.
• Figure 3: Detail of the enhanced version.
• Figure 4: System Architecture.
• Figure 5: Computational framework (vertices can be referred to Table \ref{['table:vertice']}).