Concentric Tube Robot - Kinematics Library
This is a concentric tube robot (CTR) kinematics library. The library implements highly efficient code for the forward kinematics of concentric tube robots.
- Eigen 3.3. (header-only),
- Erl (header-only, https://gitlab.com/ggras/Erl),
- boost (header-only)
C++14 support (gcc-6, clang-4).
Install with cmake. A script to download prerequisites, compile and install is available with install.sh
This project is licensed under the GPL v3 License - see the LICENSE file for details.
If you choose to use this work, please cite our paper: Leibrandt, Konrad, Christos Bergeles, and Guang-Zhong Yang. "Concentric Tube Robots: Rapid, Stable Path-Planning and Guidance for Surgical Use." IEEE Robotics & Automation Magazine 24.2 (2017): 42-53.