Skip to main content
. Author manuscript; available in PMC: 2011 May 10.
Published in final edited form as: IEEE Trans Robot. 2010;26(5):769–780. doi: 10.1109/TRO.2010.2062570

Fig. 5.

Fig. 5

Measured curvatures of the preset tube shapes expressed in a rotation-minimizing frame (note that rotation-minimizing frames, i.e., u1,z and u2,z, are zero by definition).