Physics-Embedded Motion Planning with Contact Handling for Continuum Surgical Robots

Yixiong Du, Yi Xiong, Mingcong Chen,Guokai Zhang,Hao Wang, Lu Liu,Hongbin Liu,Zhongkai Zhang

IEEE Robotics and Automation Letters（2025）

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关键词

Soft Robot Applications,Surgical Robotics: Planning,Task and Motion Planning,Contact Handling,Physical Simulation

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