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Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics

Francesco Cursi, Valerio Modugno, Petar Kormushev. Model Predictive Control for a Tendon-Driven Surgical Robot with Safety Constraints in Kinematics and Dynamics. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020, Las Vegas, NV, USA, October 24, 2020 - January 24, 2021. pages 7653-7660, IEEE, 2020. [doi]

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Francesco Cursi

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Valerio Modugno

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Petar Kormushev

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