2 papers
cs.RO2026
Controlling Continuum Robot Shape in Enclosed Space with Embedded Sensing using IMU and Actuator Feedback
Jiahe Wang, Sultan Haidar Ali, Eric Weissman +1
Controlling continuum robots' shape to operate in confined, enclosed environments is challenging, since it cannot rely on external observation. Existing embedded shape sensing meth…
cs.RO2026
Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local Observables
Jiahe Wang, Eron Ristich, Sultan Haidar Ali +5
Multi-segment soft robotic arms can continuously reconfigure their body shapes for safe interaction, but tip control alone is insufficient for constrained-space tasks. Therefore, s…