Paper · 机械臂操控
Lightweight Kinematic and Static Modeling of Cable-Driven Continuum Robots via Actuation-Space Energy Formulation
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期刊
IEEE Robotics and Automation Letters
日期
2026-05
证据等级
摘要支撑
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这篇工作首先强调：Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments.
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理论线索
方法线上更接近 该方向常见技术。We propose the Lightweight Actuation-Space Energy Modeling (LASEM) framework for cable-driven continuum robots, which formulates actuation potential energy directly in actuation space.
摘要摘录：Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments.