Publications

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2021

Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots

Liang, Nan; Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation (ICRA) - in press, 2021.

BibTeX | Tags: concentric tube continuum robot, kinematics, machine learning, modeling

2020

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection

Donat, Heiko; Lilge, Sven; Burgner-Kahrs, Jessica; Steil, Jochen J

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection Journal Article

IEEE Transactions on Medical Robotics and Bionics , 2 (4), pp. 619-630, 2020.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, sensing

2019

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)

Grassmann, Reinhard; Burgner-Kahrs, Jessica

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings

Robotics: Science and Systems Conference, 10 pages, 2019.

Links | BibTeX | Tags: concentric tube continuum robot, continuum robot, machine learning, Robotics

Towards Learning Force Sensing for a Concentric Tube Continuum Robot

Donat, Heiko; Lilge, Sven; Steil, Jochen; Burgner-Kahrs, Jessica

Towards Learning Force Sensing for a Concentric Tube Continuum Robot Inproceedings

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: concentric tube continuum robot, machine learning

2018

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)

Grassmann, Reinhard; Modes, Vincent; Burgner-Kahrs, Jessica

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3) Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, modeling