3 papers
cs.RO2026
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…
cs.RO2025
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…
cs.RO2024
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…