Supporting data for “Design and Motion Control of Multi-segment Continuum Robots”

This Dataset files are the main resource materials for Chapter 2 (design analysis and optimization) and Chapter 3 (motion control based on self-learning) in my PhD thesis. The first sub-folder is about the comparison experiments on two different groups of multi-segment continuum robots, revealing how structure parameters affect the kinematic performances of continuum robots in terms of workspace and dexterity. The second sub-folder is about the construction of deep reinforcement learning framework to realize the model-free control of multi-segment continuum robots. In addition, case study and comparative analysis on a two-segment continuum robot is included.

本数据集文件为本人博士学位论文第2章（设计分析与优化）及第3章（基于自学习的运动控制）的核心支撑资源。第一个子文件夹针对两组不同的多段连续体机器人（multi-segment continuum robots）开展对比实验，揭示了结构参数如何从工作空间与操作灵巧性维度影响连续体机器人的运动学性能。第二个子文件夹聚焦深度强化学习（deep reinforcement learning）框架的构建，以实现多段连续体机器人的无模型控制；此外还包含针对双段连续体机器人的案例研究与对比分析内容。