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cs.RO2026
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-…
cs.RO2026
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(…
cs.RO2026
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…