FABRIKv: A Fast, Iterative Inverse Kinematics Solver for Surgical Continuum Robot with Variable Curvature Model

Fuhao Wang, Wang Ye, Xiaoyang Kang 0001, Hongbo Wang, Jingjing Luo, Li Chen, Xiuhong Tang. FABRIKv: A Fast, Iterative Inverse Kinematics Solver for Surgical Continuum Robot with Variable Curvature Model. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, MI, USA, October 1-5, 2023. pages 8417-8424, IEEE, 2023. [doi]

Abstract

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