Dr XIN DONG's Outputs (6)

An analytical differential kinematics-based method for controlling tendon-driven continuum robots (2023)
Journal Article
Ba, W., Chang, J.-C., Liu, J., Wang, X., Dong, X., & Axinte, D. (2024). An analytical differential kinematics-based method for controlling tendon-driven continuum robots. Robotics and Autonomous Systems, 171, Article 104562. https://doi.org/10.1016/j.robot.2023.104562

Generic and high-performance feedback control is still challenging for tendon-driven continuum robots. Conventional model-based controllers, based on the piecewise constant curvature (PCC) assumption, explicitly require the arc parameters (bending an... Read More about An analytical differential kinematics-based method for controlling tendon-driven continuum robots.

Efficient and Scalable Inverse Kinematics for Continuum Robots (2023)
Journal Article
Wild, S., Zeng, T., Mohammad, A., Billingham, J., Axinte, D., & Dong, X. (2024). Efficient and Scalable Inverse Kinematics for Continuum Robots. IEEE Robotics and Automation Letters, 9(1), 375 - 381. https://doi.org/10.1109/lra.2023.3331291

With their flexible nature, continuum robots offer hyper-redundancy regarding their workspace; their backbone can take many shapes upon a single tip position and orientation. Deciphering which backbone shape to use under certain conditions is crucial... Read More about Efficient and Scalable Inverse Kinematics for Continuum Robots.

An analytical differential kinematics-based method for controlling tendon-driven continuum robots (2023)
Journal Article
Ba, W., Chang, J. C., Liu, J., Wang, X., Dong, X., & Axinte, D. (2024). An analytical differential kinematics-based method for controlling tendon-driven continuum robots. Robotics and Autonomous Systems, 171, Article 104562. https://doi.org/10.1016/j.robot.2023.104562

Generic and high-performance feedback control is still challenging for tendon-driven continuum robots. Conventional model-based controllers, based on the piecewise constant curvature (PCC) assumption, explicitly require the arc parameters (bending an... Read More about An analytical differential kinematics-based method for controlling tendon-driven continuum robots.

Asymmetric Continuum Robots (2023)
Journal Article
Barrientos-Diez, J., Russo, M., Dong, X., Axinte, D., & Kell, J. (2023). Asymmetric Continuum Robots. IEEE Robotics and Automation Letters, 8(3), 1279-1286. https://doi.org/10.1109/LRA.2023.3238890

Continuum robots are flexible mechanisms that enable tasks in cluttered environments where conventional robots cannot operate. However, their few design parameters and task/manufacturing constraints leave small margins for optimization. In this paper... Read More about Asymmetric Continuum Robots.

Continuum Robots: An Overview (2023)
Journal Article
Russo, M., Sadati, S. H., Dong, X., Mohammad, A., Walker, I. D., Bergeles, C., Xu, K., & Axinte, D. A. (2023). Continuum Robots: An Overview. Advanced Intelligent Systems, 5(5), Article 2200367. https://doi.org/10.1002/aisy.202200367

In this paper, we discuss recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, ena... Read More about Continuum Robots: An Overview.

Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System (2023)
Journal Article
Fang, Y., Dong, X., Mohammad, A., & Axinte, D. (2023). Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System. IEEE/ASME Transactions on Mechatronics, 28(3), 1522-1533. https://doi.org/10.1109/TMECH.2022.3229188

After decades of development, the technology of continuum robots continues to mature gradually and is used for various applications, e.g., inspection and repair in high-value-added industries such as aerospace & nuclear. However, such robots are inva... Read More about Design and Control of a Multiple-Section Continuum Robot With a Hybrid Sensing System.