Lightweight Kinematic and Static Modeling of Cable-Driven Continuum Robots via Actuation-Space Energy Formulation
Wu, Ke Wang, Yuhao Henry, Kevin Stefanini, Cesare Zheng, Gang
Wu, Ke
Wang, Yuhao
Henry, Kevin
Stefanini, Cesare
Zheng, Gang
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Robotics
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Journal article
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English
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Abstract
Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges for motion planning and control, calling for accurate but lightweight models. We propose the Lightweight Actuation-Space Energy Modeling (LASEM) framework for cable-driven continuum robots, which formulates actuation potential energy directly in actuation space. LASEM yields an analytical forward model derived from geometrically nonlinear beam and rod theories via Hamilton's principle, while avoiding explicit modeling of cable-backbone contact. It accepts both force and displacement inputs, thereby unifying kinematic and static formulations. Assuming the friction is neglected, the framework generalizes to nonuniform geometries, arbitrary cable routings, distributed loading and axial extensibility, while remaining computationally efficient for real-time use. Numerical simulations validate its accuracy, and a semi-analytical iterative scheme is developed for inverse kinematics. To address discretization in practical robots, LASEM further reformulates the functional minimization as a numerical optimization, which also naturally incorporates cable potential energy without explicit contact modeling.
Citation
K. Wu, Y. Wang, K. Henry, C. Stefanini, G. Zheng, "Lightweight Kinematic and Static Modeling of Cable-Driven Continuum Robots via Actuation-Space Energy Formulation," IEEE Robotics and Automation Letters, vol. PP, no. 99, pp. 1-8, 2026, https://doi.org/10.1109/lra.2026.3674005.
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IEEE Robotics and Automation Letters
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40 Engineering, 4007 Control Engineering, Mechatronics and Robotics, 46 Information and Computing Sciences, 7 Affordable and Clean Energy
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IEEE