提出新型连续体机器人关节空间抽象，提升控制精度与效率。
Displacement-Actuated Continuum Robots: A Joint Space Abstraction
- 基于位移驱动抽象，构建关节空间到流形局部坐标的映射
- 映射具有紧凑性与线性特征，支持长度扩展与扭转的联合建模
- 适合机器人控制、医疗手术等需要高精度运动规划的场景
位移驱动的连续体机器人作为一种抽象方法，因其与克拉克变换的关联，已被证明能显著简化并改进相关方法。为进一步挖掘其潜力，本文重新审视并拓展该抽象，聚焦日益流行的长度扩展和尚未充分使用的扭转特性。针对每种扩展，本文提供了从关节值到嵌入在关节空间中的流形局部坐标的对应映射，并分析了各映射的紧凑性与线性特征。
原文摘要 · Abstract (English)
The displacement-actuated continuum robot as an abstraction has been shown as a key abstraction to significantly simplify and improve approaches due to its relation to the Clarke transform. To highlight further potentials, we revisit and extend this abstraction that features an increasingly popular length extension and an underutilized twisting. For each extension, the corresponding mapping from the joint values to the local coordinates of the manifold embedded in the joint spaces is provided. Each mapping is characterized by its compactness and linearity.
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