Related papers: Lie Group Formulation and Sensitivity Analysis for…

Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…

This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…

In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Our approach leverages the Clarke transform, the…

Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…

Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are…

Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…

Learning robot motions from demonstration requires models able to specify vector fields for the full robot pose when the task is defined in operational space. Recent advances in reactive motion generation have shown that learning adaptive,…

This paper is a self contained review of the Loop Variable approach to string theory. The Exact Renormalization Group is applied to a world sheet theory describing string propagation in a general background involving both massless and…

This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately estimate pelvis, thigh, and shank kinematics during walking…

This paper presents a geometrically explicit formulation for Cosserat rods that unifies configuration-space and strain-based representations within a single modeling framework. The proposed method uses nodal configurations on the Lie group…

An effective way to model the complex real world is to view the world as a composition of basic components of objects and transformations. Although humans through development understand the compositionality of the real world, it is…

In computational anatomy, the Large Deformation Diffeomorphic Metric Mapping (LDDMM) framework has become a central tool for modeling smooth, invertible transformations between shapes such as curves or landmarks. In this paper, we extend…

Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…

Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…

This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…

Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

In recent years, skeleton-based action recognition has become a popular 3D classification problem. State-of-the-art methods typically first represent each motion sequence as a high-dimensional trajectory on a Lie group with an additional…

Estimating a target's 6-DoF motion in underwater proximity operations is difficult because the chaser lacks target-side proprioception and the available relative observations are sparse, noisy, and often partial (e.g., Ultra-Short Baseline…

This paper develops a new mathematical framework that enables nonparametric joint semantic and geometric representation of continuous functions using data. The joint embedding is modeled by representing the processes in a reproducing kernel…