Related papers: Lie Group Formulation and Sensitivity Analysis for…
Cable-driven continuum robots (CDCRs) are widely used in surgical and inspection tasks that require dexterous manipulation in confined spaces. Existing model-based estimation methods either assume constant curvature or rely on…
This paper presents an analytical model and a geometric numerical integrator for a rigid body connected to an elastic string, acting under a gravitational potential. Since the point where the string is attached to the rigid body is…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
This paper considers the problem of estimating a mean pattern in the setting of Grenander's pattern theory. Shape variability in a data set of curves or images is modeled by the random action of elements in a compact Lie group on an…
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over…
Many phenomena are naturally characterized by measuring continuous transformations such as shape changes in medicine or articulated systems in robotics. Modeling the variability in such datasets requires performing statistics on Lie groups,…
Currently state estimation is very important for the robotics, and the uncertainty representation based Lie group is natural for the state estimation problem. It is necessary to exploit the geometry and kinematic of matrix Lie group…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
In this paper we present a novel approach for representing and evolving deformable active contours. The method combines piecewise regular B{\'e}zier models and curve evolution defined by local Free Form Deformation. The contour deformation…
In this paper, we formulate a procedure to obtain a generalization of Milnor frames for left-invariant pseudo-Riemannian metrics on a given Lie group. This procedure is an analogue of the recent studies on left-invariant Riemannian metrics,…
A classical approach to the multibody systems (MBS) modeling is to use absolute coordinates, i.e., a set of (possibly redundant) coordinates that describe the absolute position and orientation of the individual bodies with respect to an…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…
We show how Langevin diffusions can be interpreted in the context of stochastic Hamiltonian systems with structure-preserving noise and dissipation on reductive Lie groups. Reductive Lie groups provide the setting in which the Lie group…
Compression of soft bodies is central to biology, materials science, and robotics, yet existing contact theories break down at large deformations. Here, we develop a general framework for soft-body compression by extending the method of…
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a 4-wheel skid-steer mobile robotic system. An LG representation of the system is proposed and the accompanying…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…