Concentric Tube Robots

Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control

A model predictive controller (MPC) developed for the autonomous steering of concentric tube robots (CTRs).

Autonomous Steering of Concentric Tube Robots with Enhanced Force/Velocity Manipulability

An approach for closed-loop steering of a redundant CTR that allows for snap-free motion and enhances its force/velocity manipulability

Mechanical Design of a Continuum Robot for Deep Orbital Interventions

To be updated

Towards Modelling Multi-Arm Robots-Eccentric Arrangement of Concentric Tubes

A quasistatic mechanics-based model that describes the shape of concentric tube robotic (CTR) arms when they are eccentrically arranged along an also-flexible backbone.