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cs.RO2026
A virtual-variable-length method for robust inverse kinematics of multi-segment continuum robots
Weiting Feng, Federico Renda, Yunjie Yang +1
This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initiali…
cs.RO2026
Gust Estimation and Rejection with a Disturbance Observer for Proprioceptive Underwater Soft Morphing Wings
Tobias Cook, Leo Micklem, Huazhi Dong +3
Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturban…