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cs.RO2026
Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
Carina Veil, Moritz Flaschel, Ellen Kuhl +1
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint velocitie…
cs.RO2025
Shape-Space Graphs: Fast and Collision-Free Path Planning for Soft Robots
Carina Veil, Moritz Flaschel, Ellen Kuhl
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion plann…