5 papers · 1 filter
Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law
Zhihang Qin, Linxin Hou, Zeyu Zhong +9
Cosserat rod models for soft robots usually construct sectional stiffness by summing material properties over a common cross-section. This assumption becomes inaccurate for trimmed…
Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions
Zijian Cai, Kiwan Wong, Wenci Xin +3
Hyper-redundant robots are well suited for confined-space manipulation due to their high dexterity, but safe operation in cluttered environments remains challenging. In addition, t…
Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding
Yiyuan Zhang, Anye Zhong, Junkai Chen +1
Cephalopod pulsed-jet locomotion is not a single isolated expulsion event, but a coordinated cycle involving jet expulsion, passive gliding, and mantle refilling. Inspired by this…
Shape Control of a Planar Hyper-Redundant Robot via Hybrid Kinematics-Informed and Learning-based Approach
Yuli Song, Wenbo Li, Wenci Xin +3
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment fl…
Octopus-like Reaching Motion: A Perspective Inspired by Whipping
Shengyao Zhang, Yiyuan Zhang, Chenrui Zhang +5
The stereotypical reaching motion of the octopus arm has drawn growing attention for its efficient control of a highly deformable body. Previous studies suggest that its characteri…