18 citations · 30 across the 10 of their papers we have counts for
17 papers
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…
Estimating Dynamic Soft Continuum Robot States From Boundaries
Tongjia Zheng, Jessica Burgner-Kahrs
State estimation is one of the fundamental problems in robotics. For soft continuum robots, this task is particularly challenging because their states (poses, strains, internal wre…
Estimating Infinite-Dimensional Continuum Robot States From the Tip
Tongjia Zheng, Ciera McFarland, Margaret Coad +1
Knowing the state of a robot is critical for many problems, such as feedback control. For continuum robots, state estimation is an incredible challenge. First, the motion of a cont…
Learning Evacuee Models from Robot-Guided Emergency Evacuation Experiments
Mollik Nayyar, Ghanghoon Paik, Zhenyuan Yuan +4
Recent research has examined the possibility of using robots to guide evacuees to safe exits during emergencies. Yet, there are many factors that can impact a person's decision to…
Stable Real-Time Feedback Control of a Pneumatic Soft Robot
Sean Even, Tongjia Zheng, Hai Lin +1
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging be…
Full State Estimation of Continuum Robots from Tip Velocities: A Cosserat-Theoretic Boundary Observer
Tongjia Zheng, Qing Han, Hai Lin
State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers.…