4 papers
Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators
Lingxiao Xun, Haihong Li, Gang Zheng
Precise control of soft manipulators remains challenging due to the difficulty of developing accurate yet computationally tractable models for model-based estimation and control. R…
CT-Enabled Patient-Specific Simulation and Contact-Aware Robotic Planning for Cochlear Implantation
Lingxiao Xun, Gang Zheng, Alexandre Kruszewski +1
Robotic cochlear-implant (CI) insertion requires precise prediction and regulation of contact forces to minimize intracochlear trauma and prevent failure modes such as locking and…
Collaborative Continuum Robots: A Survey
Xinyu Li, Qian Tang, Guoxin Yin +4
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to…
Lightweight Kinematic and Static Modeling of Cable-Driven Continuum Robots via Actuation-Space Energy Formulation
Ke Wu, Yuhao Wang, Kevin Henry +2
Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet…