2 citations · 2 across the 7 of their papers we have counts for
7 papers
Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators
Lingxiao Xun, Haihong Li, Gang Zheng
Precise control of soft manipulators remains challenging due to the difficulty of developing accurate yet computationally tractable models for model-based estimation and control. R…
Geometrically Explicit Cosserat-Rod Modeling with Piecewise Linear Strain for Complex Rod Systems
Lingxiao Xun, Brahim Tamadazte
This paper presents a geometrically explicit formulation for Cosserat rods that unifies configuration-space and strain-based representations within a single modeling framework. The…
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(…
CT-Enabled Patient-Specific Simulation and Contact-Aware Robotic Planning for Cochlear Implantation
Lingxiao Xun, Gang Zheng, Alexandre Kruszewski +1
Robotic cochlear-implant (CI) insertion requires precise prediction and regulation of contact forces to minimize intracochlear trauma and prevent failure modes such as locking and…
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…
Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting with Environment
Lingxiao Xun, Gang Zheng, Alexandre Kruszewski
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots inte…
Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator
Haihong Li, Lingxiao Xun, Gang Zheng
Recently soft robotics has rapidly become a novel and promising area of research with many designs and applications due to their flexible and compliant structure. However, it is mo…