3 papers
cs.RO2026
The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments
Harald Minde Hansen, Nandita Gallacher, Kristin Y. Pettersen +2
Beryllium contamination surveys in radioactive areas are challenging for robots in environments cluttered with cables and electronics. To address this problem, we have developed a…
cs.RO2026
Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling
Harald Minde Hansen, Nandita Gallacher, Nicholas B. Andrews +3
This paper presents the design, modeling, and fabrication of 3D-printed, tendon-actuated continuum robots featuring a flexible, tapered backbone constructed from thermoplastic poly…
cs.RO2026
Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot
Harald Minde Hansen, Bjørn Kåre Sæbø, Kristin Y. Pettersen +2
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a compara…