Continuum Robot Control

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9 papers in the last four weeks, against 2 the four weeks before. 0.1% of all new papers.

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  1. Magnetic based In-situ Self 3D Pose Estimation for a Modular Soft Tendon-Driven Continuum Robot via IMU-Fusion

    Sep 30, 2026Zheng Cao, Guo Ning Sue, Xiangyun Bu +3Continuum Robot ControlRobot State Estimation

    Carnegie Mellon University

  2. Closed-Form Cartesian Forward Kinetostatics for Spatial Multi-Segment Tendon-Driven Continuum Robots

    Sep 29, 2026Ke Wu, Fangju Yang, Xiaohui Zhang +4RoboticsContinuum Robot Control

  3. A Support-Enhanced Granular-Jamming Gripper for RL-based Grasping with Continuum Manipulators

    Sep 24, 2026Danyu Liu, Tianlin Zhang, Wei Chen +3Robotic GraspingContinuum Robot Control

  4. Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot

    Sep 22, 2026Marwah Basuhai, Tingcong Liu, Ibrahim Alsarraj +2Robotic GraspingWhole-Body Robotic Manipulation

  5. Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law

    Sep 21, 2026Zhihang Qin, Linxin Hou, Zeyu Zhong +9Structural MechanicsContinuum Robot Control

    Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore · Advanced Robotics Centre, National University of Singapore, Singapore · Department of Electrical and Computer Engineering, National University of Singapore, Singapore +2

  6. Estimation and Control of Tensegrity Manipulator Kinematics based on Strut Inclination Angles

    Sep 21, 2026Tufail Ahmad Bhat, Shuhei IkemotoRobotic ControlRobotics

    Kyushu Institute of Technology, Japan

  7. Safety Control of a Hyper-redundant Robot via Adaptive Weighted Control Barrier Functions

    Sep 21, 2026Zijian Cai, Kiwan Wong, Wenci Xin +3Robot Trajectory TrackingControl Barrier Functions

    Singapore-MIT Alliance for Research and Technology (SMART) Centre, Singapore · CSAIL, Massachusetts Institute of Technology, Cambridge, USA · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore +1

  8. Prescribed-Time Contracting-Boundary Control of a Tendon-Driven Flexible Arm

    Sep 19, 2026Yi Lu, Chao Tang, Zhiji Han +1Robot Trajectory TrackingFeedback Control

    School of Information Management, Hubei University of Economics, No. 8 Yangqiaohu Road, Canglongdao Development Park, Jiangxia District, Wuhan, 430205, China · College of Engineering, Ocean University of China, No. 1299 Sansha Road, Qingdao West Coast New Area, Qingdao, 266404, China

  9. Geometric Shortcuts for Complex Trunk Postures: Dual-Helicity Coupling Enables Low-Dimensional Control

    Sep 16, 2026Huishi Huang, Danlu Chen, Matteo Lo Preti +3Mechanism DesignContinuum Robot Control

    Advanced Robotics Centre (ARC) and with the Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore (NUS), 117608, Singapore. · Institute of High Performance Computing (IHPC), Agency for Science, Technology and Research (A*STAR), 138632, Singapore.

  10. Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local Observables

    Sep 2, 2026Jiahe Wang, Eron Ristich, Sultan Haidar Ali +5Model Predictive ControlFeedback Control

  11. Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception

    Aug 13, 2026Gang Zhang, Yufu Qiu, Junyan Yan +3Continuum Robot ControlRobot State Estimation

    Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China · state Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology (HUST), Wuhan, China +1

  12. SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

    Aug 6, 2026Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9Differentiable PhysicsContinuum Robot Control

    Delft University of Technology, Delft, The Netherlands · Italian Institute of Technology, Genoa, Italy · Massachusetts Institute of Technology, Cambridge, MA, USA +1

  13. Active Stiffness Control of a Supportive Continuum Robot

    Aug 4, 2026Rana Danesh, Farrokh Janabi-Sharifi, Farhad AghiliRobotic ControlRobust Control

    Department of Mechanical, Industrial, and Mechatronics Engineering, Toronto Metropolitan University, Toronto, ON, Canada · Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada

  14. Input Shaping for Point-to-Point Motion with a Continuum Robot Arm

    Jul 27, 2026Rodolfo Hdz. Ibarra, Karan Baker, Parsa Molaei +2Robust ControlContinuum Robot Control

    Department of Mechanical and Industrial Engineering, Louisiana State University, LA 70803, USA

  15. Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators

    Jul 27, 2026Lingxiao Xun, Haihong Li, Gang ZhengNonlinear MPCContinuum Robot Control

  16. Eversion-based robots can enable safe access,steering and endoscopic imaging within the spinal subarachnoid space

    Jul 21, 2026Zicong Wu, Panagiotis Kalozoumis, S. M. Hadi Sadati +8Robot NavigationRobotic Insertion

    Department of Surgical & Interventional Engineering, School of Biomedical Engineering & Imaging Sciences, Faculty of Life Sciences & Medicine, King’s College London, London WC2R 2LS, United Kingdom · Department of Computer Science & Biomedical Informatics, University of Thessaly, Lamia 35131, Greece · School of Engineering and Materials Science, Queen Mary University London, London E1 4NS, United Kingdom +2

  17. Whole-Body Semantic-to-Actuation Grounding of Elephant-Inspired Soft-Trunk Motion via Lightweight Flow Matching

    Jul 13, 2026Tingcong Liu, Tongshun Chen, Siyi Ma +6Robot Motion GenerationContinuum Robot Control

  18. A Continual Learning Framework for Adaptive Control of Modular Soft Robots

    Jul 7, 2026Nilay Kushawaha, Muhammad Sunny Nazeer, Baljinder Singh Bal +2Continual Robot LearningContinuum Robot Control

    1The BioRobotics Institute, Scuola Superiore Sant’Anna, 56024, Pontedera, Italy · Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, 56127, Pisa, Italy · Department of Mechanical Engineering, National University of Singapore, 119077, Singapore +1

  19. Deep Reinforcement Learning-Enhanced Event-Triggered Data-Driven Predictive Control for a 3D Cable-Driven Soft Robotic Arm

    Jun 24, 2026Cheng Ouyang, Moeen Ul Islam, Kaixiang Zhang +3RL ControlRobot Trajectory Tracking

    Department of Agricultural & Biological Engineering, Mississippi State University, MS, USA · Department of Mechanical Engineering, Michigan State University, MI, USA · Department of Electrical and Computer Engineering, Michigan State University, MI, USA

  20. Morphology-Specific Closed-Loop Control of Logarithmic-Spiral Continuum Arms via Online Jacobian Error Compensation

    Jun 24, 2026Partha Datta, Yi Jin, Wei Lin +1Robotic ControlRobot Trajectory Tracking

    Laboratory for Soft Machines and Electronics, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA · Department of Electrical, Computer and Systems Engineering, Case Western Reserve University, Cleveland, OH, USA · Laboratory for Soft Machines and Electronics, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA +3

  21. PanoVine: Whole-Body Visuomotor Control for Soft Growing Vine Robot

    Jun 22, 2026Yimeng Qin, Xiaomeng Xu, William Heap +3Robot NavigationVisuomotor Policy Learning

    Stanford University

  22. Do Rigid-Body Simulators Dream of Soft Robots? Learning Contact-Rich Manipulation for Tendon-Driven Continuum Robots

    Jun 21, 2026Chengnan Shentu, Nicholas Baldassini, Tongjia Zheng +2Contact-Rich Robotic ManipulationRobotics Simulation

    University of Toronto, Canada

  23. Discrete Geometric Modeling and Extended State Estimation of Continuum Robots

    Jun 19, 2026Maximilian Herrmann, Leander Pfeiffer, Paul KotyczkaContinuum Robot ControlRobot State Estimation

    Technical University of Munich, TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence (MIRMI), Chair of Automatic Control.

  24. CoLI: A Reproducible Platform for Continuum Robot Learning via Monolithic 3D Printing and Isomorphic Teleoperation

    Jun 18, 2026Ziyuan Tang, Chenxi Xiao*Robot TeleoperationRobotic Manipulation

    School of Information Science and Technology at ShanghaiTech University, Shanghai, China

  25. Shape Sensing of Continuum Robots using Direct Laser Writing

    Jun 17, 2026Amber K. Rothe, Nidhi Malhotra, Jaydev P. DesaiContinuum Robot ControlSoft Robotics

    Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 USA

  26. Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness

    May 24, 2026Jiewen Tan, Junnan Xue, Shing Shin Cheng +3Continuum Robot ControlSurgical Robotics

    Harbin Institute of Technology (Shenzhen), Shenzhen, China, 518055 · Department of Mechanical and Automation Engineering and T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong · Faculty of Applied Science, Macao Polytechnic University, Macao

  27. Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments

    May 24, 2026Xiaotian Zhang, Ali Albazroun, Tixian Wang +3RL for RoboticsRobotics Simulation

    Carl R. Woese Institute for Genomic Biology, University of Illinois Urbana–Champaign · Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology · Department of Mechanical Science and Engineering, University of Illinois Urbana–Champaign

  28. Neural Operators for Design-Space Surrogate Modeling of Tendon-Actuated Continuum Robots

    May 18, 2026Branden Frieden, James M. Ferguson, Alan Kuntz +1Neural Surrogate ModelingFourier Neural Operator

    The Robotics Center and the Kahlert School of Computing at the University of Utah, Salt Lake City, UT 84112, USA. · The Departments of Computer Science and Electrical and Computer Engineering at Vanderbilt University, Nashville, TN, 37203, USA.

  29. Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot

    May 18, 2026Harald Minde Hansen, Bjørn Kåre Sæbø, Kristin Y. Pettersen +2Robot Dynamics IdentificationNonlinear System Identification

    European Organization for Nuclear Research (CERN), Switzerland · Department of Engineering Cybernetics, Norwegian University of Science and Technology, NTNU, NO-7491 Trondheim, Norway

  30. ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics

    May 18, 2026Ziyu Wei, Luting Wang, Chen Gao +2Language-Conditioned Robot ManipulationRobotic RL

    Beihang University · Hangzhou Innovation Institute, Beihang University · National University of Singapore

  31. Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs

    May 13, 2026Alex Sayres, Giovanni PittiglioContinuum Robot ControlSoft Robotics

    FuTURE Lab, Department of Robotics Engineering, Worcester Polytechnic Insitute (WPI), Worcester, MA 01605, USA

  32. Sampling-Based Follow-the-Leader Motion Planning for Manipulator-Mounted Continuum Robots

    May 12, 2026Chengnan Shentu, Nicholas Baldassini, Oluwagbotemi D. Iseoluwa +2Continuum Robot ControlMotion Planning

    University of Toronto

  33. Continuum Robot Modeling with Action Conditioned Flow Matching

    May 9, 2026Jiong Lin, Jinchen Ruan, Hod Lipson3D Shape GenerationPoint Cloud Generation

    Department of Mechanical Engineering, Columbia University, New York, NY, USA

  34. Quasi-Static Control of Discrete Cosserat Rod

    May 2, 2026Srishti Siddharth, Domenico Campolo, Ravi BanavarRobot Trajectory TrackingFeedback Control

    Centre for Systems and Control Indian Institute of Technology Bombay Mumbai, India · School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

  35. Reference-Augmented Learning for Precise Tracking Policy of Tendon-Driven Continuum Robots

    Apr 28, 2026Ziqing Zou, Ke Qiu, Haojian Lu +2Robot Trajectory TrackingRobot Policy Learning

    Department of Control Science and Engineering, Zhejiang University, Hangzhou, China

  36. Learning-Based Dynamics Modeling and Robust Control for Tendon-Driven Continuum Robots

    Apr 28, 2026Ziqing Zou, Ke Qiu, Fei Wang +3Robot Trajectory TrackingRobot Dynamics Learning

    Department of Control Science and Engineering, Zhejiang University, Hangzhou, China

  37. AI-Enabled Image-Based Hybrid Vision/Force Control of Tendon-Driven Aerial Continuum Manipulators

    Apr 21, 2026Shayan Sepahvand, Farrokh Janabi-Sharifi, Farhad AghiliRobotic ControlAerial Robotics

    Department of Mechanical, Industrial, and Mechatronics Engineering, Toronto Metropolitan University, Toronto, Canada · Department of Mechanical, Industrial, and Aerospace Engineering (MIAE), Concordia University, Montreal, Quebec H3G 1M8, Canada

  38. Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments

    Apr 17, 2026Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3Constrained Motion PlanningContinuum Robot Control

    Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA 92093, USA · SceniX Inc, New York, NY 10011, USA · Department of Electrical and Computer Engineering, University of California San Diego, San Diego, CA 92093, USA +1

  39. Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling

    Mar 19, 2026Harald Minde Hansen, Nandita Gallacher, Nicholas B. Andrews +3Continuum Robot ControlTendon-Driven Actuation

    Mechatronics, Robotics and Operation Section, European Organization for Nuclear Research (CERN), Meyrin, Switzerland · Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA · Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway

  40. Octopus-inspired Distributed Control for Soft Robotic Arms: A Graph Neural Network-Based Attention Policy with Environmental Interaction

    Mar 10, 2026Linxin Hou, Qirui Wu, Zhihang Qin +2Continuum Robot ControlDecentralized MARL

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore · Department of Computer Science, National University of Singapore, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore +2

  41. MarUco: A Markerless 6D Pose Estimation Framework for Closed-Loop Control of Surgical Continuum Manipulators

    Feb 18, 2026Junhyun Park, Chunggil An, Myeongbo Park +3Object Pose EstimationContinuum Robot Control

    Department of Robotics and Mechatronics Engineering, DGIST, Daegu 42988, Republic of Korea · AI Research Lab, DEEPNOID, Seoul, Republic of Korea

  42. Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems

    Feb 3, 2026Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5Robotic ControlModel Predictive Control

    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Cognitive Robotics, Delft University of Technology, 2628 CN Delft, The Netherlands +3

  43. Rapidly Learning Soft Robot Control via Implicit Time-Stepping

    Nov 10, 2025Andrew Choi, Dezhong Tong, Xiaonan HuangRobot Policy LearningRobotics Simulation

    Horizon Robotics, Cupertino, CA, USA · Robotics Department at the University of Michigan, Ann Arbor, MI, USA