Abstract: In this paper, we propose and investigate a new approach to modeling variable curvature continuum robot sections, based on Euler spirals. Euler Spirals, also termed Clothoids, or Cornu Spirals,…
Abstract: Numerous soft and continuum robotic manipulators have demonstrated their potential for compliant operation in highly unstructured environments or near people. Despite their recent popularity, modeling of their smooth bending…
Abstract: We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the…
Abstract: Soft Continuum arms, such as trunk and tentacle robots, can be considered as the" dual" of traditional rigid-bodied robots in terms of manipulability, degrees of freedom, and compliance. Introduced…
Our paper "Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots" has been accepted for publication in the Springer IUTAM Symposium on Intelligent Multibody…
Jonathan Grey has been awarded Undergraduate Research Assistantship (https://www.cdm.depaul.edu/academics/research/Pages/URAP.aspx) for the upcoming Winter and Spring quarters. Congratulations!
Our paper titled "Real-time Dynamic Models for Soft Bending Actuators" has been accepted for presentation in IEEE International Conference on Robotics and Biomimetics, 2019. Abstract—Soft robotics have witnessed increased attention…
Our paper titled "Stereotactic Systems for MR-guided Neurosurgeries: A State-of-the-art Review" has been accepted for publication in Annals of Biomedical Engineering.
Our paper titled "Efficient Reduced-Order Models for Soft Actuators" submitted to 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems has been accepted for presentation in Soft Robotic Modeling and Control: Bringing…