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Currently, surgical continuum robots (CRs) are predominantly used as telemanipulators where modeling errors are overcome by the user. Such errors preclude their use for autonomous tasks. In this paper, we investigate the calibration of CRs with specific focus on capturing joint space errors due to homing offsets, assembly errors causing twist about the robot&#39;s backbone, and uncertainty in the equi...

Geometric Calibration of Continuum Robots: Joint Space and Equilibrium Shape Deviations