Related papers: Continuum Robot State Estimation with Actuation Un…
This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is designed for real-world robots with nonlinear dynamic models and…
Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the…
Collaborative robots (cobots) are machines designed to work safely alongside people in human-centric environments. Providing cobots with the ability to quickly infer the inertial parameters of manipulated objects will improve their…
In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion. Our approach uses the Koopman operator theory to transform…
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…
Tendon-driven robotic catheters are capable of precise execution of minimally invasive cardiac procedures including ablations and imaging. These procedures require accurate mathematical models of not only the catheter and tendons but also…
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground in the system modeling. The process and measurement models…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-parallel tendon routing for TDCRs have shown definite advantages…
Predicting the shape of tendon driven continuum robots (TDCRs) at steady state from actuation remains challenging due to continuous deformation, complex tendon routing, compliance, friction, and fabrication variability. In this paper, we…
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…