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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| Online-Zugang: | https://arxiv.org/abs/2604.12792 |
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| _version_ | 1866917548932464640 |
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| author | Dash, Sabyasachi Golden, John Krishnan, Girish |
| author_facet | Dash, Sabyasachi Golden, John Krishnan, Girish |
| contents | In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted either prior to or after actuation by actively rotating the individual spacer disks. Each disk rotation thus adds a degree of freedom to the actuation space, complicating the mapping from a desired backbone curve to the corresponding actuator inputs. However, when the backbone shape is projected into an intermediate space defined by curvature and torsion (C-T), patterns emerge that highlight which disks are most influential in achieving a global shape. This insight enables a simplified, sequential shape-matching strategy: first, the proximal and intermediate disks are rotated to approximate the global shape; then, the distal disks are adjusted to fine-tune the end-effector position with minimal impact on the overall shape. The proposed actuation framework offers a model-free alternative to conventional control approaches, bypassing the complexities of modeling reconfigurable TDCMs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_12792 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Actuation space reduction to facilitate insightful shape matching in a novel reconfigurable tendon driven continuum manipulator Dash, Sabyasachi Golden, John Krishnan, Girish Robotics In tendon driven continuum manipulators (TDCMs), reconfiguring the tendon routing enables tailored spatial deformation of the backbone. This work presents a design in which tendons can be rerouted either prior to or after actuation by actively rotating the individual spacer disks. Each disk rotation thus adds a degree of freedom to the actuation space, complicating the mapping from a desired backbone curve to the corresponding actuator inputs. However, when the backbone shape is projected into an intermediate space defined by curvature and torsion (C-T), patterns emerge that highlight which disks are most influential in achieving a global shape. This insight enables a simplified, sequential shape-matching strategy: first, the proximal and intermediate disks are rotated to approximate the global shape; then, the distal disks are adjusted to fine-tune the end-effector position with minimal impact on the overall shape. The proposed actuation framework offers a model-free alternative to conventional control approaches, bypassing the complexities of modeling reconfigurable TDCMs. |
| title | Actuation space reduction to facilitate insightful shape matching in a novel reconfigurable tendon driven continuum manipulator |
| topic | Robotics |
| url | https://arxiv.org/abs/2604.12792 |