10 papers
Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation
Ke Wu, Fangju Yang, Xiaohui Zhang +3
Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, ax…
Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
Fangju Yang, Siyi Ma, Tonghao Guan +5
Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified ac…
History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots
Hang Yang, Tingcong Liu, Junjie Xiong +2
Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measu…
Tactile Sim2Real without Tactile Simulation via Bottlenecked Latent Reconstruction
Fan Yang, Youngsun Wi, Jinhao Yu +2
Robot sensor designs, particularly tactile sensors, are highly diverse and evolve rapidly. Modeling each sensor in simulation demands substantial domain expertise and computational…
A Flow Matching Framework for Soft-Robot Inverse Dynamics
Hang Yang, Fangju Yang, Yangming Zhang +5
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based contro…
Lightweight Dynamic Modeling of Cable-Driven Continuum Robots Based on Actuation-Space Energy Formulation
Fangju Yang, Hang Yang, Ibrahim Alsarraj +2
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. I…
AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation
Adam Hung, Fan Yang, Abhinav Kumar +4
Dexterous manipulation tasks often require switching between different contact modes, such as rolling, sliding, sticking, or non-contact contact modes. When formulating dexterous m…
Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation
Abhinav Kumar, Fan Yang, Sergio Aguilera Marinovic +3
Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can imp…
AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use
Yating Lin, Zixuan Huang, Fan Yang +1
Multivariate time-series anomaly detection, which is critical for identifying unexpected events, has been explored in the field of machine learning for several decades. However, di…
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Abhinav Kumar, Thomas Power, Fan Yang +4
Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods…