Jake A. Childs

2 accepted papers

2022

Transverse Anisotropy Stabilizes Concentric Tube Robots

D. Caleb Rucker, Jake A. Childs, Parsa Molaei, Hunter B. Gilbert

RA-L 2022

We propose a new method for improving the stability of concentric tube robots. Prior work sought to improve stability through laser-cut patterns that reduced <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$EI/GJ$</

Cited by 12 Source ↗Scholar ↗

2020

Concentric Precurved Bellows: New Bending Actuators for Soft Robots

Jake A. Childs, D. Caleb Rucker

RA-L 2020

We present a new mechanical bending actuator for soft and continuum robots based on a pair of concentric precurved bellows. Each bellows is rotated axially at its base, allowing independent control of the curvature and bending plane of the concentric bellows pair. Rotation of precurved nested tubes

Cited by 8 Source ↗Scholar ↗