Author

Fang-Ju Yang

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Preprint Sep 2026

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

Forward kinetostatics of spatial tendon-driven continuum robots typically requires a nonlinear equilibrium solve for each actuation input. This paper develops a force-to-Cartesian-configuration model with a closed-form solution in quadratures for spatial multi-segment robots under tendon actuation. The Cartesian backbo...

Ke Wu, Fang-Ju Yang, Xiao-Hui Zhang et al. · 0 citations

Preprint Sep 2026

Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation

Many planning and control tasks for tendon-driven continuum robots (TDCRs) require the complete Cartesian backbone geometry. We present a reduced Cartesian framework for planar, axially compressible TDCRs that propagates equilibrium configurations along prescribed tendon-force and tendon-displacement trajectories. The...

Ke Wu, Fang-Ju Yang, Xiao-Hui Zhang 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