3 papers
cs.RO2026
Closed-Form Cartesian Forward Kinetostatics for Spatial Multi-Segment Tendon-Driven Continuum Robots
Ke Wu, Fangju Yang, Xiaohui Zhang +4
Forward kinetostatics of spatial tendon-driven continuum robots typically requires a nonlinear equilibrium solve for each actuation input. This paper develops a force-to-Cartesian-…
cs.RO2026
Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation
Ke Wu, Fangju Yang, Xiaohui Zhang +3
Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, ax…
cs.RO2023
Proprioceptive State Estimation for Amphibious Tactile Sensing
Ning Guo, Xudong Han, Shuqiao Zhong +5
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic en…