7 citations · 13 across the 10 of their papers we have counts for
5 papers · 1 filter
Closed-Form Cartesian Forward Kinetostatics for Spatial Multi-Segment Tendon-Driven Continuum Robots
Ke Wu, Fangju Yang, Xiaohui Zhang +4
Forward kinetostatics of spatial tendon-driven continuum robots typically requires a nonlinear equilibrium solve for each actuation input. This paper develops a force-to-Cartesian-…
Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation
Ke Wu, Fangju Yang, Xiaohui Zhang +3
Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, ax…
A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
Xunjie Chen, Liuyin Wang, Xinyan Huang +3
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud int…
Bipedal-Walking-Dynamics Model on Granular Terrains
Xunjie Chen, Xinyan Huang, Peter Shan +2
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal…
Can Wearable Exoskeletons Reduce Gender and Disability Gaps in the Construction Industry?
Yana Rodgers, Xiangmin Liu, Jingang Yi +1
The share of construction trade jobs held by women and people with disabilities has remained stubbornly low in the face of chronic shortages of skilled labor. This study explores t…