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cs.RO2025
Topology-Inspired Morphological Descriptor for Soft Continuum Robots
Zhiwei Wu, Siyi Wei, Jiahao Luo +1
This paper presents a topology-inspired morphological descriptor for soft continuum robots by combining a pseudo-rigid-body (PRB) model with Morse theory to achieve a quantitative…
cs.RO2025
Enhancing Kinematic Performances of Soft Continuum Robots for Magnetic Actuation
Zhiwei Wu, Jiahao Luo, Siyi Wei +1
Soft continuum robots achieve complex deformation through elastic equilibrium, making their reachable motions governed jointly by structural design and actuation-induced mechanics.…