Software

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.

 

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

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

@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}
}

 

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