TY - CONF A1 - Dhanakoti, Siva Prasad Chakri A1 - Maddocks, John A1 - Weiser, Martin T1 - Navigation of Concentric Tube Continuum Robots using Optimal Control T2 - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics N2 - Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and rotating the tubes in order to reach a target point or perform some task. The robot must deviate as little as possible from this narrow space and avoid damaging neighbouring tissue. We consider \emph{open-loop} optimal control of CTCRs parameterized over pseudo-time, primarily aiming at minimizing the robot's working volume during its motion. External loads acting on the system like tip loads or contact with tissues are not considered here. We also discussed the inclusion of tip's orientation in the optimal framework to perform some tasks. We recall a quaternion-based formulation of the robot configuration, discuss discretization, develop optimization objectives addressing different criteria, and investigate their impact on robot path planning for several numerical examples. This optimal framework can be applied to any backbone based continuum robots. Y1 - 2022 UR - https://opus4.kobv.de/opus4-zib/frontdoor/index/index/docId/8765 SP - 146 EP - 154 ER -