181 citations · 243 across the 12 of their papers we have counts for
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cs.RO2020
Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined s…
cs.RO2020
Solving Cosserat Rod Models via Collocation and the Magnus Expansion
Andrew L. Orekhov, Nabil Simaan
Choosing a kinematic model for a continuum robot typically involves making a tradeoff between accuracy and computational complexity. One common modeling approach is to use the Coss…