[Submitted on 22 Sep 2026]
Title:Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
View a PDF of the paper titled Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots, by Fangju Yang and 7 other authors
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Abstract:Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified actuation-space framework for planar multi-segment tendon-driven continuum robots. An energy-based variable-curvature model captures spatially varying tendon spacing and bending stiffness and provides analytical Jacobians for differential inverse kinematics and safety monitoring. A multipoint CBF-QP enforces backbone clearance under obstacle motion and actuation-velocity bounds, while its decision dimension depends only on the number of independently actuated segments. The model closely agrees with GVS references, with a maximum curvature error of $5.223 \times 10^{-2}\,\mathrm{m}^{-1}$. Over 100 MuJoCo trials, the proposed method achieves collision-free success rates of 96% and 100% in static and dynamic scenarios, respectively, compared with approximately 60% and 80% without CBF constraints. Hole-traversal tests further demonstrate safe motion in constrained environments. With 600 backbone monitoring points, the mean control-step time is 6.66 ms, demonstrating real-time whole-body safe motion generation.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2610.00220 [cs.RO]
(or arXiv:2610.00220v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2610.00220
arXiv-issued DOI via DataCite
Submission history
From: Ke Wu [view email] [v1] Tue, 22 Sep 2026 04:14:54 UTC (2,306 KB)
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