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cs.RO2026
SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models
Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9
Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, ho…
cs.RO2026
A Closed-Form CLF-CBF Controller for Whole-Body Continuum Soft Robot Collision Avoidance
Kiwan Wong, Maximillian Stölzle, Wei Xiao +1
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still requ…