3 papers
eess.SY2026
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…
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…