49 citations · 120 across the 12 of their papers we have counts for
4 papers · 1 filter
Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model
Azadeh Doroudchi, Zhi Qiao, Wenlong Zhang +1
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the con…
Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movemen…
Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation with Sensor Misalignment
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu +1
Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately meas…
A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching
Pham H. Nguyen, Karishma Patnaik, Shatadal Mishra +2
Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inabil…