selected publications

• academic article

  • Duality of the existing geometric variable strain models for the dynamic modelling of continuum robots.  IEEE Robotics and Automation Letters.  10:1848-1855. 2025
  • Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization.  The International Journal of Robotics Research.  44:129-154. 2024
  • Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics.  IEEE Transactions on Robotics.  40:2098-2110. 2024
  • Implicit Time-Integration Simulation of Robots With Rigid Bodies and Cosserat Rods Based on a Newton–Euler Recursive Algorithm.  IEEE Transactions on Robotics.  40:677-696. 2023
  • Soft Robots Modeling: A Structured Overview.  IEEE Transactions on Robotics.  39:1728-1748. 2023
  • Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories.  IEEE Transactions on Robotics.  39:1544-1562. 2022
  • Geometrically-Exact Inverse Kinematic Control of Soft Manipulators With General Threadlike Actuators’ Routing.  IEEE Robotics and Automation Letters.  7:7311-7318. 2022
  • A Geometric Variable-Strain Approach for Static Modeling of Soft Manipulators With Tendon and Fluidic Actuation.  IEEE Robotics and Automation Letters.  5:4006-4013. 2020

• blog posting

  • On the Collocated Form with Input Decoupling of Lagrangian Systems.  arXiv (Cornell University). 2023
  • A Sliding-rod Variable-strain Model for Concentric Tube Robots.  . 2021
  • A Sliding-rod Variable-strain Model for Concentric Tube Robots.  . 2020
  • A Sliding-rod Variable-strain Model for Concentric Tube Robots.  . 2020