2 papers
cs.RO2026
Integrated Shape-Force Estimation for Continuum Robots: A Virtual-Work and Polynomial-Curvature Framework
Guoqing Zhang, Zihan Chen, Long Wang
Cable-driven continuum robots (CDCRs) are widely used in surgical and inspection tasks that require dexterous manipulation in confined spaces. Existing model-based estimation metho…
cs.RO2025
Stochastic Adaptive Estimation in Polynomial Curvature Shape State Space for Continuum Robots
Guoqing Zhang, Long Wang
In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we pre…