Safety-Enhanced Model-Free Visual Servoing for Continuum Tubular Robots Through Singularity Avoidance in Confined Environments

• Main Authors: Wu, K., Zhu, G., Wu, L., Gao, W., Song, S., Lim, C.M., Ren, H.
• 其他作者: BIOMEDICAL ENGINEERING
• 格式: Article
• 出版: Institute of Electrical and Electronics Engineers Inc. 2021
• 主題: concentric tube robots; continuum tubular robots; image processing; minimally invasive surgery; model-free; singularity-avoidance; singularity-resistant; Visual servoing
• 在線閱讀: https://scholarbank.nus.edu.sg/handle/10635/209626

10.1109/ACCESS.2019.2891952