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Hang-Tao Yang

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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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