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cs.RO2026
Continuum Robot Modeling with Action Conditioned Flow Matching
Jiong Lin, Jinchen Ruan, Hod Lipson
Predicting the shape of tendon driven continuum robots (TDCRs) at steady state from actuation remains challenging due to continuous deformation, complex tendon routing, compliance,…
cs.RO2024
CarbonFish -- A Bistable Underactuated Compliant Fish Robot capable of High Frequency Undulation
Zechen Xiong, Zihan Guo, Mark Liu +2
The Hair Clip Mechanism HCM represents an innovative in plane prestressed bistable mechanism, as delineated in our preceding studies, devised to augment the functional prowess of s…
cs.RO2024
Accelerating Aquatic Soft Robots with Elastic Instability Effects
Zechen Xiong, Suyu Luohong, Jeong Hun Lee +1
Sinusoidal undulation has long been considered the most successful swimming pattern for fish and bionic aquatic robots [1]. However, a swimming pattern generated by the hair clip m…