Related papers: Continuum Robot Modeling with Action Conditioned F…
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…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and research of continuum robots are usually based on the…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…
This paper presents the design, modeling, and fabrication of 3D-printed, tendon-actuated continuum robots featuring a flexible, tapered backbone constructed from thermoplastic polyurethane (TPU). Our scalable design incorporates an…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
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…
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-predictive control, as well as data generation for imitation,…
Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce uncertainties that arise during the robot's operation that lead…
Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…
Trajectory prediction and generation are crucial for autonomous robots in dynamic environments. While prior research has typically focused on either prediction or generation, our approach unifies these tasks to provide a versatile framework…
Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
Compared to the micro continuum robots that use traditional manufacturing technology, the micro fabricated continuum robots are different in terms of the application of smart materials, additive manufacturing process, and physical field…