Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles

This arXiv paper addresses the fundamental challenge of expressing complex continuous bending configurations in continuum robots for closed-loop control. Unlike conventional continuum robots with continuous elastic backbones, tensegrity manipulators exhibit distinct structural characteristics. The authors propose using strut inclination angles as a parameterization approach for kinematics estimation, providing a modeling framework that can be applied to tensegrity-based continuum robots that have remained largely unexplored in existing literature.