4 papers
GIFT: Geometry-Induced Functional Transfer for Category-level Object Manipulation
Cristiana de Farias, Luis Figueredo, Riddhiman Laha +5
Robotic manipulation of unfamiliar objects in new environments is challenging due to limited generalisation capabilities. We propose a new skill transfer framework, GIFT (Geometry-…
Geometrically Explicit Cosserat-Rod Modeling with Piecewise Linear Strain for Complex Rod Systems
Lingxiao Xun, Brahim Tamadazte
This paper presents a geometrically explicit formulation for Cosserat rods that unifies configuration-space and strain-based representations within a single modeling framework. The…
A General Lie-Group Framework for Continuum Soft Robot Modeling
Lingxiao Xun, Benoît Rosa, Jérôme Szewczyk +1
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(…
Constraint-Free Static Modeling of Continuum Parallel Robot
Lingxiao Xun, Matyas Diezinger, Azad Artinian +2
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum ju…