24 citations · 42 across the 5 of their papers we have counts for
6 papers
Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots
Chengnan Shentu, Nicholas Baldassini, Tongjia Zheng +2
Learning contact-rich, whole-body manipulation for soft continuum robots is held back by the lack of simulation infrastructure that has accelerated rigid-robot manipulation. Existi…
Sampling-Based Follow-the-Leader Motion Planning for Manipulator-Mounted Continuum Robots
Chengnan Shentu, Nicholas Baldassini, Oluwagbotemi D. Iseoluwa +2
Follow-the-leader (FTL) motion exploits the unique morphology of continuum robots (CRs) to navigate confined spaces by having the body retrace the path of the tip. While extensivel…
Universal-jointed Tendon-driven Continuum Robot: Design, Kinematic Modeling, and Locomotion in Narrow Tubes
Chengnan Shentu, Jessica Burgner-Kahrs
Tendon-driven Continuum Robots (TDCRs) are promising candidates for applications in confined spaces due to their unique shape, compliance, and miniaturization capability. Non-paral…
A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots
Maximillian Hachen, Chengnan Shentu, Sven Lilge +1
Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces.…
Open Continuum Robotics -- One Actuation Module to Create them All
Reinhard M. Grassmann, Chengnan Shentu, Taqi Hamoda +2
Experiments on physical continuum robot are the gold standard for evaluations. Currently, as no commercial continuum robot platform is available, a large variety of early-stage pro…
MoSS: Monocular Shape Sensing for Continuum Robots
Chengnan Shentu, Enxu Li, Chaojun Chen +3
Continuum robots are promising candidates for interactive tasks in medical and industrial applications due to their unique shape, compliance, and miniaturization capability. Accura…