Learning the Forward and Inverse Kinematics of a 6-DOF Concentric Tube Continuum Robot in SE(3). - Reinhard Grassmann; Vincent Modes; Jessica Burgner-Kahrs (IROS, 2018)

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes. - Vincent Modes; Jessica Burgner-Kahrs (IEEE Robotics Autom. Lett., 2020)