5 papers
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…
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…
Tracking the Effective Surface Area of Non-Convex Satellites
Lauritz Rismark Fosso, Raymond Kristiansen, Jan Tommy Gravdahl +2
This paper presents a novel framework to track the effective surface area of non-convex satellites, enabling the use of aerodynamic drag in low Earth orbit for orbital control. The…
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…
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
Haoru Xue, Xiaoyu Huang, Dantong Niu +8
Vision-language-action (VLA) models have demonstrated strong semantic understanding and zero-shot generalization, yet most existing systems assume an accurate low-level controller…