Some of our work has resulted in software packages that may be useful to other researchers or practitioners. If you find it useful, please reference the relevant papers.

ROS Library for Simulation of Concentric Tube Robots Including a Data-Driven Controller [ROS]

Repo for modelling and simulation of Concentric Tube Robots in ROS. It implements the methodology presented in the following paper: “Data-driven Steering of Concentric Tube Robots in Unknown Environments via Dynamic Mode Decomposition “. Balint Thamo, David Hanley Kevin Dhaliwal, Mohsen Khadem. IEEE Robotics and Automation Letters, 2022.

This repo uses C++ in ROS Melodic environment to simulate a CTR and includes a data-driven steering algorithm via the Dynamic Mode Decomposition method. You need to copy the folders into the src folder in your workspace. Then you can run it by the following command: roslaunch ctr_main ctr_main.launch

If you enjoy this repository and use it, please cite our paper

@ARTICLE{9996548,
  author={Thamo, Balint and Hanley, David and Dhaliwal, Kevin and Khadem, Mohsen},
  journal={IEEE Robotics and Automation Letters}, 
  title={Data-Driven Steering of Concentric Tube Robots in Unknown Environments via Dynamic Mode Decomposition}, 
  year={2023},
  volume={8},
  number={2},
  pages={856-863},
  doi={10.1109/LRA.2022.3231490}}

Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement [Python]

Python implementation of the shape estimation methodology presented in the following paper: “Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement”. E. Mackute, B. Thamo, K. Dhaliwal, M.Khadem. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

CTR_Observer.py provides a fusion algorithm that combines a sensor measurement with the mathematical model of a concentric tube robot (CTR). The CTR_Observer class is based on the CTR model implementation available at https://github.com/SIRGLab/CTR_Python_Model.demo.py shows an example of using this repository.

If you enjoy this repository and use it, please cite our paper

@INPROCEEDINGS{9982174,
  author={Mackute, Emile and Thamo, Balint and Dhaliwal, Kevin and Khadem, Mohsen},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement}, 
  year={2022},
  volume={},
  number={},
  pages={3972-3978},
  doi={10.1109/IROS47612.2022.9982174}}

Rapid-Solution-of-Cosserat-Equations [Matlab and C++]

Repo for rapid modeling of a Cosserat Rod in Matlab. It implements the methodology presented in the following publication: B. THamo, K. Dhaliwal, M. Khadem, “Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer,” 2021 IEEE International Conference on Robotics and Automation (ICRA 2021).

If you enjoy this repository and use it, please cite our paper

@inproceedings{balintICRA21,
  title={Rapid Solution of Cosserat Rod Equations via a Nonlinear Partial Observer},
  author={Thamo, Balint and Dhalival, Kev and Khadem, Mohsen},
  booktitle={2021 IEEE International Conference on Robotics and Automation  (ICRA 2021)},
  pages={},
  year={2021},
  organization={IEEE}
}

Autonomous steering of concentric tube robots via nonlinear model predictive control [Python]

Repo for control a concentric tube robot with 2 tubes. This module implements the methodology presented in the following publication:

M. Khadem, J. O’Neill, Z. Mitros, L. da Cruz and C. Bergeles, “Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control,” in IEEE Transactions on Robotics.  DOI: 10.1109/TRO.2020.2991651.

URL: https://ieeexplore.ieee.org/document/9097934

@ARTICLE{sirg_tro2020,
  author={M. {Khadem} and J. {O’Neill} and Z. {Mitros} and L. {da Cruz} and C. {Bergeles}},
  journal={IEEE Transactions on Robotics}, 
  title={Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control}, 
  year={2020},
  volume={},
  number={},
  pages={1-8},}

Modelling and  3D Force/Velocity Manipulability Analysis of Concentric Tube Robots [Python]

This repository contains python codes for modeling a concentric tube robot with 3 tubes and estimating its manipulability indices. It implements the methodology presented in the following publication:

M. Khadem, L. Da Cruz and C. Bergeles, “Force/Velocity Manipulability Analysis for 3D Continuum Robots,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 4920-4926. DOI: 10.1109/IROS.2018.8593874

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8593874&isnumber=8593358

If you enjoy this repository and use it, please cite our paper

@inproceedings{sirg_forceCTR_2019,
  title={Force/velocity manipulability analysis for 3d continuum robots},
  author={Khadem, Mohsen and Da Cruz, Lyndon and Bergeles, Christos},
  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={4920--4926},
  year={2018},
  organization={IEEE}
}