12 citations · 12 across the 4 of their papers we have counts for
4 papers
Constraint-Aware Physics-Informed Neural Networks for Static Shape Estimation of Co-Manipulative Continuum Robots
Rana Danesh, Pari Qarehdaghi, Farrokh Janabi-Sharifi
Static shape estimation of co-manipulative continuum robots (CCRs) is challenging because the continuum arms and manipulated flexible object form a closed chain that must satisfy b…
Active Stiffness Control of a Supportive Continuum Robot
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechanically coupling it with a supportive arm. However, their passive sti…
Real-Time Projected Adaptive Control for Closed-Chain Co-Manipulative Continuum Robots
Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili
In co-manipulative continuum robots (CCRs), multiple continuum arms cooperate by grasping a common flexible object, forming a closed-chain deformable mechanical system. The closed-…
Backstepping Control of Tendon-Driven Continuum Robots in Large Deflections Using the Cosserat Rod Model
Rana Danesh, Farrokh Janabi-Sharifi
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their f…