2 papers
cs.RO2026
A virtual-variable-length method for robust inverse kinematics of multi-segment continuum robots
Weiting Feng, Federico Renda, Yunjie Yang +1
This paper proposes a new, robust method to solve the inverse kinematics (IK) of multi-segment continuum manipulators. Conventional Jacobian-based solvers, especially when initiali…
cs.RO2025
Computing forward statics from tendon-length in flexible-joint hyper-redundant manipulators
Weiting Feng, Kyle L. Walker, Yunjie Yang +1
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting…