Error-State Model Predictive Path Integral Control of Tendon-Driven Continuum Robots using Cosserat Rod Dynamics with Strain Parametrization
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This paper presents an error-state Model Predictive Path Integral (MPPI) framework for tendon-driven continuum robots (TDCRs). Tracking-error dynamics are formulated on a Lie group to preserve full pose geometry, yielding precise position-orientation error met... ...
