18 citations · 20 across the 16 of their papers we have counts for
15 papers
Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots
Ella Walsh, Spencer Teetaert, Eric Diller +2
Continuum robots often operate in uncertain environments, where accurate state estimation is essential for safe interactions. Estimate uncertainty is inherently spatially non-unifo…
Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots
Chengnan Shentu, Nicholas Baldassini, Tongjia Zheng +2
Learning contact-rich, whole-body manipulation for soft continuum robots is held back by the lack of simulation infrastructure that has accelerated rigid-robot manipulation. Existi…
Collaborative Continuum Robots: A Survey
Xinyu Li, Qian Tang, Guoxin Yin +4
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…
A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots
Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs +1
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-stat…
Displacement-Actuated Continuum Robots: A Joint Space Abstraction
Reinhard M. Grassmann, Jessica Burgner-Kahrs
The displacement-actuated continuum robot as an abstraction has been shown as a key abstraction to significantly simplify and improve approaches due to its relation to the Clarke t…
Clarke Coordinates Are Generalized Improved State Parametrization for Continuum Robots
Reinhard M. Grassmann, Jessica Burgner-Kahrs
In this letter, we demonstrate that previously proposed improved state parameterizations for soft and continuum robots are specific cases of Clarke coordinates. By explicitly deriv…