Constant curvature continuum kinematics as fast approximate model for the Bionic Handling Assistant

We evaluate the use of continuum kinematics with constant curvature as a kinematic model for Festo's Bionic Handling Assistant (BHA). We introduce a new, elegant, and parameterless method to deal with geometric singularities in stretched positions, which allows to capture pure elongations that are not naturally expressed by the toroidal deformations underlying the constant curvature assumption. The stability of the method is shown with numeric simulations. We evaluate how well this model describes the BHA by using real-world position measurements as quantitative ground truth and find a good match between model and real BHA, with only 1% relative error. The model provides a practical, and highly efficient tool for the simulation and experimentation with continuum robots and is available as free software library(1).