4 papers
Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion
Zheng Cao, Guo Ning Sue, Xiangyun Bu +3
Continuum robots are well suited for gentle manipulation because of their inherent compliance and ability to adapt to complex environments. However, their continuously deformable s…
Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation
Guo Ning Sue, Guo Ning, Sue +7
Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrast…
Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics
Jeong Hun Lee, Junzhe Hu, Sofia Kwok +2
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between t…
Q-learning-based Model-free Safety Filter
Guo Ning Sue, Yogita Choudhary, Richard Desatnik +3
Ensuring safety via safety filters in real-world robotics presents significant challenges, particularly when the system dynamics is complex or unavailable. To handle this issue, le…