3 papers
cs.RO2026
Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots
Fangju Yang, Siyi Ma, Tonghao Guan +5
Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified ac…
cs.RO2026
History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots
Hang Yang, Tingcong Liu, Junjie Xiong +2
Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measu…
cs.RO2026
A Flow Matching Framework for Soft-Robot Inverse Dynamics
Hang Yang, Fangju Yang, Yangming Zhang +5
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based contro…