Figure 2From: Learning by imitation with the STIFF-FLOP surgical robot: a biomimetic approach inspired by octopus movements Spatiotemporal representation. Left: The black lines represent slices in the Euler angle surfaces θ and offset surface ΔL, corresponding to a static pose described by all the links (0≤s≤1) at t=0.7. Right: For the same time frame, some of the corresponding Frenet frames along the arm are depicted in a 3D Cartesian space.Back to article page