6 accepted papers
The flexibility and dexterity of cable-driven continuum robots (CDCRs) make them well suited for intricate tasks such as minimally invasive surgery. However, the complexity of accurately modeling their dynamics has limited their broader adoption and effective control. Current models either oversimpl
Concentric tube robots (CTRs) are miniaturized continuum robots that are promising for robotic minimally invasive surgeries. Control methods to date have primarily focused on controlling the robot tip. However, small changes in the tip position can result in large deviations in the shape of the robo
In this work, we address the problem of online learning, where models must be continually updated from an incoming stream of data, while retaining past information. We develop an approach that is nonparametric, models uncertainty, and requires minimal hand-tuning. Our proposed algorithm, which we te
Soft, growing robots have the ability to conform to their environment and traverse highly curved paths that would typically prove challenging for other robot designs. As they navigate through these constrained and cluttered environments, there is often significant interaction between the robot and i…
Growing continuum robots offer improved safety and navigation in confined spaces, due to their inherent compliance and ability to conform to highly curved paths. Navigation of these, and other continuum robots, often involves frequent interactions with the surrounding environment, which are typicall
Growing robots that achieve locomotion by extending from their tip, are inherently compliant and can safely navigate through constrained environments that prove challenging for traditional robots. However, the same compliance and tip-extension mechanism that enables this ability, also leads directly