5 papers · 1 filter
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…