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. Author manuscript; available in PMC: 2011 Jun 3.
Published in final edited form as: IEEE Int Conf Robot Autom. 2010:3703–3708. doi: 10.1109/ROBOT.2010.5509380

Fig. 1.

Fig. 1

The definition of parameters, inputs and frames in the nonholonomic needle model. Y-Z denotes the world frame and y-z denotes the body-fixed frame attached to the needle tip.