Safety-Enhanced Model-Free Visual Servoing for Continuum Tubular Robots Through Singularity Avoidance in Confined Environments
Minimally invasive procedures have gained ever-increasing popularity due to their advantages of smaller incisions, faster recoveries, fewer complications, and reduced scarring to name a few. With the force exertion and curvilinear flexibility at their distal end effectors, the continuum tubular robo...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8607974/ |