Publications

S. K.  Mahapatra, and A. Ghosal, “Modeling, simulations and experiments with generally routed cable-driven continuum robots and their application to three-fingered grippers,” Robotica, (p. 1-16), 2024. https://doi.org/10.1017/S0263574724000651.

K. P. Ashwin, S. K. Mahapatra, and A. Ghosal, “Profile and contact force estimation of cable-driven continuum robots in presence of obstacles,” Mechanism and Machine Theory, vol. 164, p. 104404, 2021. https://doi.org/10.1016/j.mechmachtheory.2021.104404.

S. K. Mahapatra, and A. Ghosal, “Obtaining desired shapes of cable-riven continuum robots using general cable routing,” Advances in Mechanism and Machine Science. IFToMM WC 2023, pp. 130-138, 2023. https://doi.org/10.1007/978-3-031-45770-8_13.

S. K. Mahapatra, K. P. Ashwin, and A. Ghosal, “Modelling of cable-driven continuum robots with General Cable Routing: A comparison,” Advances in Asian Mechanism and Machine Science. ASIAN MMS 2021 , pp. 345–353, 2021. https://doi.org/10.1007/978-3-030-91892-7_32.
[Best Papers award]

S. K. Mahapatra, and A. Ghosal, “Modelling of cable-driven continuum robots with multiple generally routed cables,” in iNaCoMM 2023. [Accepted] 

S. K. Mahapatra, K. P. Ashwin, and A. Ghosal, “3D printed cable-driven continuum robots with generally routed cables : modeling and experiments”.