Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
Overview
A new framework enables real-time safe motion generation for multi-segment tendon-driven robots using energy-based modeling and constraint satisfaction.
Generated from attributed reports · 2 days agoUpdated
Event evidence and corrections
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Environment: simulation
“Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints.”
Exact source · revision 1Source owner not reported
Control: reported autonomous
“Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints.”
Exact source · revision 1Source owner not reported
Reported quantity · collision-free success rate: 96 percent · reported trials · static scenarios · Differing source assertions
“Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints.”
Exact source · revision 1Source owner not reported
Reported quantity · collision-free success rate: 100 percent · reported trials · dynamic scenarios · Differing source assertions
“Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints.”
Exact source · revision 1Source owner not reported
Reported quantity · collision-free success rate: 60 percent · reported trials · static scenarios · Differing source assertions
“Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints.”
Exact source · revision 1Source owner not reported
Reported quantity · collision-free success rate: 80 percent · reported trials · dynamic scenarios · Differing source assertions
“Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints.”
Exact source · revision 1Source owner not reported
Reported quantity · mean control-step time: 6.66 hours · unique elapsed hours · backbone monitoring points
“Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsReal-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
This research presents a unified actuation-space framework for planar multi-segment tendon-driven continuum robots, combining energy-based modeling with constraint satisfaction techniques to achieve real-time whole-body safe motion generation. The method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared to 60% and 80% without CBF constraints. The model closely matches GVS references with a maximum curvature error of $5.223 imes 10^{-2} ext{m}^{-1}$, and demonstrates real-time performance with a mean control-step time of 6.66 ms.
Event attention history
Current attention 3·Peak within the comparable range 9（2026-10-02 06:00 UTC）·Change within the comparable range over 24 hours -49%
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