5 papers
Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators
Lingxiao Xun, Haihong Li, Gang Zheng
Precise control of soft manipulators remains challenging due to the difficulty of developing accurate yet computationally tractable models for model-based estimation and control. R…
Geometrically Explicit Cosserat-Rod Modeling with Piecewise Linear Strain for Complex Rod Systems
Lingxiao Xun, Brahim Tamadazte
This paper presents a geometrically explicit formulation for Cosserat rods that unifies configuration-space and strain-based representations within a single modeling framework. The…
A General Lie-Group Framework for Continuum Soft Robot Modeling
Lingxiao Xun, Benoît Rosa, Jérôme Szewczyk +1
This paper introduces a general Lie group framework for modeling continuum soft robots, employing Cosserat rod theory combined with cumulative parameterization on the Lie group SE(…
CT-Enabled Patient-Specific Simulation and Contact-Aware Robotic Planning for Cochlear Implantation
Lingxiao Xun, Gang Zheng, Alexandre Kruszewski +1
Robotic cochlear-implant (CI) insertion requires precise prediction and regulation of contact forces to minimize intracochlear trauma and prevent failure modes such as locking and…
Constraint-Free Static Modeling of Continuum Parallel Robot
Lingxiao Xun, Matyas Diezinger, Azad Artinian +2
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum ju…