3 papers
cs.RO2026
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…
cs.RO2026
AI-Enabled Image-Based Hybrid Vision/Force Control of Tendon-Driven Aerial Continuum Manipulators
Shayan Sepahvand, Farrokh Janabi-Sharifi, Farhad Aghili
This paper presents an AI-enabled cascaded hybrid vision/force control framework for tendon-driven aerial continuum manipulators based on constant-strain modeling in as a c…
cs.RO2026
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-…