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. Author manuscript; available in PMC: 2011 Apr 6.
Published in final edited form as: IEEE Int Conf Robot Autom. 2009 May 12;2009:2964–2971. doi: 10.1109/robot.2009.5152649

TABLE 1.

TUBE PARAMETERS FOR SIMULATION.

Tube 1 (outer) 2 3 (inner)
Relative Stiffness 5 3 1
Initial Curvature (cm) 5 9 1
Length (cm) 4 8 10
Base Rotation, θi (degrees) 0 −150 0