Methods and systems are described for controlling movement of a continuum robot that
includes a plurality of independently controlled segments along the length of the continuum …

The goal of this work is to develop a soft-robotic manipulation system that is capable of
autonomous, dynamic, and safe interactions with humans and its environment. First, we …

We present a novel approach to deal with transitions while performing a sequence of
dynamic tasks with a humanoid robot. The simultaneous achievement of several tasks …

In this paper, we present a novel kinematic-based framework for collision detection and
estimation of contact location along multisegment continuum robots. Screw theory is used to …

During exploration through tortuous unstructured passages by continuum robots, methods
are required to minimize the force interaction between the environment and the robot along …

Clutter creates challenges for robot manipulation, including a lack of non-contact trajectories
and reduced visibility for line-of-sight sensors. We demonstrate that robots can use whole …

We propose a locomotion framework for bipedal robots consisting of a new motion planning
method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole …

The control of kinematically redundant robots is often approached using nullspace
projection, which requires precise models and can be computationally challenging. Humans …

We present a new framework for prioritized multi-task motion/force control of fully-actuated
robots. This work is established on a careful review and comparison of the state of the art …

Haptic exploration has received a great deal of attention of late thanks to the variety of
commercially available tactile sensors. While the majority of previous works consider control …