Concentric Tube Robot Design Optimization
![](/research/ctr_design_optimization/featured_hu5d7804c627fa198866616cff14a2d49e_190797_1de7d728660fc7dc1e575f1fe774bf55.webp)
Concentric tube robots have a large number of design variables, which is often reduced in order for design optimization problems to be tractable by gradient-free approaches. However, this reduces the design space of the robots, which can lead to sub-optimal results. To overcome those limitations, we propose a design optimization problem formulation compatible with grandient-based methods, allowing us to explore a larger design space.
![Cédric Girerd](/author/cedric-girerd/avatar_hu2ea201c28ccef963f26f2ca6d15f50cf_118278_270x270_fill_q75_lanczos_center.jpeg)
Cédric Girerd
CNRS Researcher
My research interests include continuum, soft and inflatable robots for medical application and inspection tasks.