Related papers: A General Lie-Group Framework for Continuum Soft R…
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…
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape…
Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod Theory has emerged as a prominent framework for modeling…
Soft robots have many advantages over rigid robots thanks to their compliant and passive nature. However, it is generally challenging to model the dynamics of soft robots due to their high spatial dimensionality, making it difficult to use…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
Continuum robots, known for their high flexibility and adaptability, offer immense potential for applications such as medical surgery, confined-space inspections, and wearable devices. However, their non-linear elastic nature and complex…
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
Lie groups and their actions are ubiquitous in the description of physical systems, and we explore implications in the setting of model order reduction (MOR). We present a novel framework of MOR via Lie groups, called MORLie, in which…
State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers. However, state estimation of soft robots is very…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in…
Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess has been made in the mechanical design and dynamic…
We present a general approach to the bifurcation analysis of elastic frameworks with symmetry. While group-theoretic methods for bifurcation problems with symmetry are well known, their actual implementation in the context of elastic…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
We consider a subsystem of the Special Cosserat Theory of Rods and construct an explicit form of its solution that depends on three arbitrary functions in (s,t) and three arbitrary functions in t. Assuming analyticity of the arbitrary…
This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…
A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has spread over diverse…
Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…