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Integrated Shape-Force Estimation for Continuum Robots: A Virtual-Work and Polynomial-Curvature Framework
Guoqing Zhang, Zihan Chen, Long Wang
Cable-driven continuum robots (CDCRs) are widely used in surgical and inspection tasks that require dexterous manipulation in confined spaces. Existing model-based estimation metho…
A Lightweight Modular Continuum Manipulator with IMU-based Force Estimation
Guoqing Zhang, Qianwen Zhao, Long Wang
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This…
Stochastic Adaptive Estimation in Polynomial Curvature Shape State Space for Continuum Robots
Guoqing Zhang, Long Wang
In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we pre…
A Modular Continuum Manipulator for Aerial Manipulation and Perching
Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani +1
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This…