3 papers
cs.RO2026
PccDiffuser: Multi-solution Motion Planning for Continuum Robots
Ke Qiu, Sifan Chen, Si Wang +3
We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multipl…
cs.RO2026
Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Haojian Lu +2
Tendon-Driven Continuum Robots (TDCRs) pose significant control challenges due to their highly nonlinear, path-dependent dynamics and non-Markovian characteristics. Traditional Jac…
cs.RO2026
Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots
Ziqing Zou, Ke Qiu, Fei Wang +3
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. Th…