CRLab

Our Lab

Welcome to the Continuum Robotics Laboratory at the University of Toronto!

Our Research Questions

  1. How can we build robot systems which are able to manoeuvre and manipulate in constrained and tortuous environments?
  2. How can we model flexible, elastic, and soft robots accurately?
  3. How can we develop efficient algorithms for optimised design, motion planning, and control?
  4. How can intuitive human machine interaction be achieved for continuum robots?
  5. How can we effectively utilise the embodied intelligence for control?

Research Areas

Research Areas

Resources

If you want to know more about our continuum robotics research, look at these representative papers. You can find the complete list of our publications on my Google Scholar.

J. Burgner-Kahrs, D.C. Rucker, H. Choset: Continuum Robots for Medical Applications - A Survey. IEEE Transactions on Robotics, 31(6):1261-1280, 2015. DOI: 10.1109/TRO.2015.2489500 M.T. Chikhaoui, J. Burgner-Kahrs (2018): Control of Continuum Robots for Medical Applications: State of the Art. International Conference and Exhibition on New Actuators and Drive Systems, pp. 154-164, 2018. online R. Grassmann, V. Modes, J. Burgner-Kahrs: Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3). IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018. Preprint Jessica Burgner-Kahrs: How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application? Latest Thinking 2016. Video