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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Hang-Tao Yang

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2 papers indexed here

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Preprint Sep 2026

Real-Time Whole-Body Safe Motion Generation for Multi-Segment Tendon-Driven Continuum Robots

Real-time motion generation for tendon-driven continuum robots requires accurate modeling of nonuniform bending and whole-body collision avoidance. This paper presents a unified actuation-space framework for planar multi-segment tendon-driven continuum robots. An energy-based variable-curvature model captures spatially...

Fang-Ju Yang, Si-Yi Ma, Tong-Hao Guan et al. · 0 citations
Preprint Sep 2026

History-Conditioned Flow Matching for Probabilistic Dynamics of Tendon-Driven Continuum Robots

Deterministic dynamics modeling of tendon-driven continuum robots remains challenging owing to uncertainties in material behavior, tendon transmission, friction, and contact. Measured joint configurations and nominal tendon commands do not fully characterize these internal mechanical factors, leaving uncertainty in the...

Hang-Tao Yang, Ting-Cong Liu, Jun-Jie Xiong et al. · 0 citations

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