Abstract
Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified actuation-space framework for planar multi-segment tendon-driven continuum robots. An energy-based variable-curvature model captures spatially varying tendon spacing and bending stiffness and provides analytical Jacobians for differential inverse kinematics and safety monitoring. A multipoint CBF-QP enforces backbone clearance under obstacle motion and actuation-velocity bounds, while its decision dimension depends only on the number of independently actuated segments. The model closely agrees with GVS references, with a maximum curvature error of $5.223 \times 10^{-2}\,\mathrm{m}^{-1}$. 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. Hole-traversal tests further demonstrate safe motion in constrained environments. With 600 backbone monitoring points, the mean control-step time is 6.66 ms, demonstrating real-time whole-body safe motion generation.
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Cite this article
APA 7
Yang, F., Ma, S., Guan, T., Liu, T., Yang, H., Zhang, Z., Dai, J. S., & Wu, K. (2026). Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots. https://omanscience.com/en/articles/real-time-whole-body-safe-motion-generation-for-multi-segment-tendon-driven-continuum-robots
MLA 9
Yang, Fangju, et al. "Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots." https://omanscience.com/en/articles/real-time-whole-body-safe-motion-generation-for-multi-segment-tendon-driven-continuum-robots.
Chicago (author–date)
Yang, Fangju, Siyi Ma, Tonghao Guan, Tingcong Liu, Hang Yang, Zhengqiang Zhang, Jian S. Dai, and Ke Wu. 2026. "Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots." https://omanscience.com/en/articles/real-time-whole-body-safe-motion-generation-for-multi-segment-tendon-driven-continuum-robots.
Harvard
Yang, F., Ma, S., Guan, T., Liu, T., Yang, H., Zhang, Z., Dai, J. S. and Wu, K. (2026) 'Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots', Available at: https://omanscience.com/en/articles/real-time-whole-body-safe-motion-generation-for-multi-segment-tendon-driven-continuum-robots.
Vancouver
Yang F, Ma S, Guan T, Liu T, Yang H, Zhang Z, et al. Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots. https://omanscience.com/en/articles/real-time-whole-body-safe-motion-generation-for-multi-segment-tendon-driven-continuum-robots
IEEE
F. Yang, S. Ma, T. Guan, T. Liu, H. Yang, Z. Zhang, J. S. Dai, and K. Wu, "Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots," https://omanscience.com/en/articles/real-time-whole-body-safe-motion-generation-for-multi-segment-tendon-driven-continuum-robots.