3 accepted papers
This paper presents a free-swimming, tetherless, cable-driven modular soft robotic fish. The body comprises a series of 3D-printed wave spring structures that create a flexible biologically inspired shape that is capable of an anguilliform swimming gait. A three-module soft robotic fish was designed…
In this paper, we propose an adaptive eye-to-hand vision-based control methodology, which enables a closed-loop grow-to-shape capability for variable length continuum manipulators in 2D. Our method utilizes shape features of the continuum robot, i.e. module curvature and length, which are obtained f…
In this paper, we present a novel clothoid-based visual servoing method for controlling the shape of a variable length continuum manipulator. Clothoids are curves with linearly changing curvature. They allow us to obtain a smooth representation of a continuum manipulator's shape in a compact form wi…