7 citations · 9 across the 5 of their papers we have counts for
5 papers
SpiRobs: Logarithmic Spiral-shaped Robots for Versatile Grasping Across Scales
Zhanchi Wang, Nikolaos M. Freris, Xi Wei
Realizing a soft manipulator with biologically comparable flexibility and versatility often requires careful selection of materials and actuation, as well as attentive design of it…
Dynamical Modeling and Control of Soft Robots with Non-constant Curvature Deformation
Zhanchi Wang, Gaotian Wang, Xiaoping Chen +1
The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft ro…
Control of a Soft Robotic Arm Using a Piecewise Universal Joint Model
Zhanchi Wang, Gaotian Wang, Xiaoping Chen +1
The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing e…
Unified Kinematic and Dynamical Modeling of a Soft Robotic Arm by a Piecewise Universal Joint Model
Zhanchi Wang, Gaotian Wang, Nikolaos M. Freris
The compliance of soft robotic arms renders the development of accurate kinematic & dynamical models especially challenging. The most widely used model in soft robotic kinematics a…
Design, Control, and Applications of a Soft Robotic Arm
Hao Jiang, Zhanchi Wang, Yusong Jin +5
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are…