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An analytical differential kinematics-based method for controlling tendon-driven continuum robots (2023)
Journal Article
Ba, W., Chang, J., Liu, J., Wang, X., Dong, X., & Axinte, D. (2024). An analytical differential kinematics-based method for controlling tendon-driven continuum robots. Robotics and Autonomous Systems, 171, Article 104562. https://doi.org/10.1016/j.robot.2023.104562

Generic and high-performance feedback control is still challenging for tendon-driven continuum robots. Conventional model-based controllers, based on the piecewise constant curvature (PCC) assumption, explicitly require the arc parameters (bending an... Read More about An analytical differential kinematics-based method for controlling tendon-driven continuum robots.

Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments (2022)
Journal Article
Dong, X., Wang, M., Mohammad, A. E. K., Ba, W., Russo, M., Norton, A., …Axinte, D. (2022). Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments. IEEE/ASME Transactions on Mechatronics, 27(5), 4217-4220. https://doi.org/10.1109/TMECH.2021.3138222

This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly... Read More about Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments.

Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator (2021)
Journal Article
Russo, M., Sriratanasak, N., Ba, W., Dong, X., Mohammad, A., & Axinte, D. (2022). Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator. IEEE Robotics and Automation Letters, 7(2), 1558-1565. https://doi.org/10.1109/LRA.2021.3139371

Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional robots and human operators cannot intervene. However, such intervention often requires the robot to interact with the environment,... Read More about Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator.