SOURCE-LINKED INTELLIGENCE

Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Unlike conventional rigid-link robots defined by discrete joints, continuum robots pose a fundamental challenge for expressing their complex continuous bending configurations for closed-loop control. Several modelling approaches have been proposed for conventional continuum robots, but tensegrity-based continuum robots remain largely open. Moreover, many of these approaches assume a continuous elastic backbone and are therefore not directly applicable to tensegrity manipulators, whose bodies are networks of rigid struts and tensioned cables. This work presents a reduced-order model for shape a

Read original source ↗ Open in workspace

recordType

paper

region

Global