36 citations · 142 across the 18 of their papers we have counts for
9 papers · 1 filter
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…
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…
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…
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…
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…