Danying Sun — accepted AI-conference papers

2024

Learning the Inverse Kinematics of Magnetic Continuum Robot for Teleoperated Navigation

Pingyu Xiang, Ke Qiu, Danying Sun, Jingyu Zhang, Qin Fang, Xiangyu Mi +5

IROS 2024

Magnetic continuum robots are subject to external magnetic fields and deformed remotely, simplifying the robot’s transmission mechanism and providing it with significant potential for miniaturization and operational flexibility. However, modeling magnetic field distribution generated by permanent ma

Cited by 2 Source ↗Scholar ↗

2023

An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots

Ke Qiu, Jingyu Zhang, Danying Sun, Rong Xiong, Haojian LU, Yue Wang

RSS 2023poster

Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning tasks. In this paper, we propose an efficient multi-solution s…

Cited by 7 Source ↗PDF ↗Scholar ↗