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cs.RO2023
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.…
cs.RO2022
Task Space Tracking of Soft Manipulators: Inner-Outer Loop Control Based on Cosserat-Rod Models
Tongjia Zheng, Qing Han, Hai Lin
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem…