Trajectory optimization of pneumatically actuated, redundant continuum manipulators. - Valentin Falkenhahn; Alexander Hildebrandt; Oliver Sawodny (ACC, 2014)

Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalism. - Valentin Falkenhahn; Tobias Mahl; Alexander Hildebrandt; Rüdiger Neumann; Oliver Sawodny (IROS, 2014)

Configuration space impedance control for continuum manipulators. - Lorenzo Toscano; Valentin Falkenhahn; Alexander Hildebrandt; Francesco Braghin; Oliver Sawodny (ICARA, 2015)

Model-based feedforward position control of constant curvature continuum robots using feedback linearization. - Valentin Falkenhahn; Alexander Hildebrandt; Rüdiger Neumann; Oliver Sawodny (ICRA, 2015)

Dynamic Modeling of Bellows-Actuated Continuum Robots Using the Euler-Lagrange Formalism. - Valentin Falkenhahn; Tobias Mahl; Alexander Hildebrandt; Rüdiger Neumann; Oliver Sawodny (IEEE Trans. Robotics, 2015)

Online TCP trajectory planning for redundant continuum manipulators using quadratic programming. - Valentin Falkenhahn; Frank A. Bender; Alexander Hildebrandt; Rüdiger Neumann; Oliver Sawodny (AIM, 2016)