181 citations · 185 across the 6 of their papers we have counts for
8 papers
A Lightweight Modular Continuum Manipulator with IMU-based Force Estimation
Guoqing Zhang, Qianwen Zhao, Long Wang
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This…
Stochastic Adaptive Estimation in Polynomial Curvature Shape State Space for Continuum Robots
Guoqing Zhang, Long Wang
In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we pre…
A Modular Continuum Manipulator for Aerial Manipulation and Perching
Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani +1
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This…
Modal-based Kinematics and Contact Detection of Soft Robots
Yue Chen, Long Wang, Kevin Galloway +3
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable comp…
Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration
Long Wang, Giuseppe Del Giudice, Nabil Simaan
Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities…
Medical Technologies and Challenges of Robot Assisted Minimally Invasive Intervention and Diagnostics
Nabil Simaan, Rashid M. Yasin, Long Wang
Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history…