A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.
Elastica: A compliant mechanics environment for soft robotic control,
3 Pith papers cite this work. Polarity classification is still indexing.
3
Pith papers citing it
fields
cs.RO 3years
2026 3verdicts
UNVERDICTED 3representative citing papers
A deformable soft conical hand is modeled in physics simulation and its scooping trajectories are optimized via evolutionary search, enabling effective contact-rich granular tasks validated in both simulation and physical robot experiments.
A vision-guided hybrid rigid-soft manipulator achieves consistent sub-2cm reaching in unseen cluttered environments via shape-aware planning and learning control without environment-specific retraining.
citing papers explorer
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Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
A contact-aware planner for continuum robots enables safe navigation in constrained anatomical environments, achieving 100% success in hardware trials while avoiding dangerous tip contact and maintaining low tracking errors of 1-2 mm.
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Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand
A deformable soft conical hand is modeled in physics simulation and its scooping trajectories are optimized via evolutionary search, enabling effective contact-rich granular tasks validated in both simulation and physical robot experiments.
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HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
A vision-guided hybrid rigid-soft manipulator achieves consistent sub-2cm reaching in unseen cluttered environments via shape-aware planning and learning control without environment-specific retraining.