12 papers
Closed-Form Cartesian Forward Kinetostatics for Spatial Multi-Segment Tendon-Driven Continuum Robots
Ke Wu, Fangju Yang, Xiaohui Zhang +4
Forward kinetostatics of spatial tendon-driven continuum robots typically requires a nonlinear equilibrium solve for each actuation input. This paper develops a force-to-Cartesian-…
Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation
Ke Wu, Fangju Yang, Xiaohui Zhang +3
Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, ax…
Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
Fangju Yang, Siyi Ma, Tonghao Guan +5
Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified ac…
Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot
Marwah Basuhai, Tingcong Liu, Ibrahim Alsarraj +2
Soft continuum robots can exploit distributed compliance for whole-body manipulation, but synthesizing behavior through changing contacts remains difficult. We address whole-body g…
History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots
Hang Yang, Tingcong Liu, Junjie Xiong +2
Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measu…
SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation
Tingcong Liu, Aye Phyu Phyu Aung, Junjie Xiong +4
Soft and continuum robots enable manipulation through distributed body deformation and contact, yet translating language and visual context into executable whole-body actuation rem…
Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching
Tingcong Liu, Tongshun Chen, Siyi Ma +6
For close-contact human-robot interaction (HRI), trunk-like continuum manipulators provide a physical channel for diverse whole-body expression, but grounding open-vocabulary respo…
A Flow Matching Framework for Soft-Robot Inverse Dynamics
Hang Yang, Fangju Yang, Yangming Zhang +5
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based contro…
Lightweight Dynamic Modeling of Cable-Driven Continuum Robots Based on Actuation-Space Energy Formulation
Fangju Yang, Hang Yang, Ibrahim Alsarraj +2
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. I…
A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
Ibrahim Alsarraj, Yuhao Wang, Abdalla Swikir +4
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often…
Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping
Liudi Yang, Yang Bai, Yuhao Wang +4
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom an…
A Hybrid Hinge-Beam Continuum Robot with Passive Safety Capping for Real-Time Fatigue Awareness
Tongshun Chen, Zezhou Sun, Yanhan Sun +3
Cable-driven continuum robots offer high flexibility and lightweight design, making them well-suited for tasks in constrained and unstructured environments. However, prolonged use…