181 citations · 243 across the 12 of their papers we have counts for
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cs.RO2022★ 1 cited
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing
Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan
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…
cs.RO2022★ 1 cited
Long Horizon Planning through Contact using Discrete Search and Continuous Optimization
Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan +2
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby pe…