Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
The paper addresses real-time motion control for multi-segment tendon-driven continuum robots, which struggle with varying structural properties and collision risks. It proposes a unified framework combining an energy-based variable-curvature model with a multipoint Control Barrier Function Quadratic Program (CBF-QP) to generate safe, whole-body motion in real time.