Chaari, Mahdi (ICube Laboratory, CNRS, University of Strasbourg), Nageotte, Florent (ICube Laboratory, CNRS, University of Strasbourg)

Probabilistic Motion Model for Tendon Actuated Continuum Robots with Actuator Non-Linearities

Scheduled for presentation during the Regular Session "Soft Robotics" (WeBT5), Wednesday, July 16, 2025, 15:20−15:40, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

In this paper, we propose a probabilistic motion model for tendon actuated continuum robots that experience actuation transmission non-linearities due to cable slack and cable-sheath friction. The model is based on a Lie group formulation of the robot's end-effector pose that incorporates a new simple backlash model. Bayesian parameter estimation is then employed to learn a probability distribution over the model's parameters. This allows the uncertainty over the parameters to be propagated in the prediction of the end-effector's trajectory. The model's predictive capabilities are compared against the static Cosserat-rod-based model and the Kirchhoff model.