36 citations · 142 across the 18 of their papers we have counts for
19 papers
A bioinspired internal model-based online estimator for planar pursuit
Tengyue Liu, Xincheng Li, Sofia Morales Ferreira +2
Bioinspired feedback controls for pursuit, tracking, and collective motion are often expressed in terms of the relative configuration between interacting agents. In practice, howev…
Kinematics of continuum planar grasping
Udit Halder, Nicolas Echeverria Zambrano, Xincheng Li
This paper presents an analytical framework to study the geometry arising when a soft continuum arm grasps a planar object. Both the arm centerline and the object boundary are mode…
On Feedback Speed Control for a Planar Tracking
Xincheng Li, Tengyue Liu, Udit Halder
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strate…
Statics of continuum planar grasping
Udit Halder
Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike co…
A Neural Network-based Framework for Fast and Smooth Posture Reconstruction of a Soft Continuum Arm
Tixian Wang, Heng-Sheng Chang, Seung Hyun Kim +9
A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the p…
Neural Models and Algorithms for Sensorimotor Control of an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +3
In this article, a biophysically realistic model of a soft octopus arm with internal musculature is presented. The modeling is motivated by experimental observations of sensorimoto…
Passive elasticity properties of arm
Udit Halder, Ekaterina Gribkova, Rhanor Gillette +1
In this report, passive elasticity properties of arm tissue are investigated using a multidisciplinary approach encompassing biomechanical experiments,…
Topology, dynamics, and control of an octopus-analog muscular hydrostat
Arman Tekinalp, Noel Naughton, Seung-Hyun Kim +5
Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to…
Hierarchical control and learning of a foraging CyberOctopus
Chia-Hsien Shih, Noel Naughton, Udit Halder +5
Inspired by the unique neurophysiology of the octopus, we propose a hierarchical framework that simplifies the coordination of multiple soft arms by decomposing control into high-l…
Modeling the Neuromuscular Control System of an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +2
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying ou…
Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +3
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems conti…
Flocks, Games, and Cognition: A Geometric Approach
Udit Halder, Vidya Raju, Matteo Mischiati +2
Avian flocks display a wide variety of flight behaviors, including steady directed translation of center of mass, rapid change of overall morphology, re-shuffling of positions of i…
A Sensory Feedback Control Law for Octopus Arm Movements
Tixian Wang, Udit Halder, Ekaterina Gribkova +3
The main contribution of this paper is a novel sensory feedback control law for an octopus arm. The control law is inspired by, and helps integrate, several observations made by bi…
Control-oriented Modeling of Bend Propagation in an Octopus Arm
Tixian Wang, Udit Halder, Ekaterina Gribkova +2
Bend propagation in an octopus arm refers to a stereotypical maneuver whereby an octopus pushes a bend (localized region of large curvature) from the base to the tip of the arm. Be…
A physics-informed, vision-based method to reconstruct all deformation modes in slender bodies
Seung Hyun Kim, Heng-Sheng Chang, Chia-Hsien Shih +5
This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple came…
Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
Heng-Sheng Chang, Udit Halder, Ekaterina Gribkova +4
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work…
Optimal Control of a Soft CyberOctopus Arm
Tixian Wang, Udit Halder, Heng-Sheng Chang +2
In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which…
Energy Shaping Control of a CyberOctopus Soft Arm
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +7
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications…
Biomimetic Algorithms for Coordinated Motion: Theory and Implementation
Udit Halder, Biswadip Dey
Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for cov…