3 papers
cs.RO2026
A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
Ibrahim Alsarraj, Yuhao Wang, Abdalla Swikir +4
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often…
cs.RO2026
Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping
Liudi Yang, Yang Bai, Yuhao Wang +4
Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom an…
cs.RO2025
Grasping by Spiraling: Reproducing Elephant Movements with Rigid-Soft Robot Synergy
Huishi Huang, Haozhe Wang, Chongyu Fang +8
The logarithmic spiral is observed as a common pattern in several living beings across kingdoms and species. Some examples include fern shoots, prehensile tails, and soft limbs lik…