Shows rapid deployment of a continuum robot inside a tube using force sensing at the backbones and a generalization of the compliant motion controller initially presented in [1]. This experiment is associated with [2] which is not published. The algorithms have been validated successfully on two cadavers as reported in Hamlyn 2013 paper and in a TBME paper currently under review
[1] R. E. Goldman, A. Bajo, N. Simaan: Compliant motion control for continuum robots with intrinsic actuation sensing, Proc. IEEE Int. Conf. Robot. Autom. (ICRA), Shanghai (2011), pp. 1126-1132;
[2] R. E. Goldman, A. Bajo, N. Simaan: Compliant motion control for multi-segment continuum robots with actuation force sensing, IEEE Trans. Robot. (2013), submitted
