Research

Research Interests

Continuum and Soft Robotics

Probabilistic State Estimation

Motion Planning and Control

Static and Dynamic Modeling

Robotic Navigation and Manipulation

Selected Publications

Paper Name

[1] Hachen, M., Shentu, C., Lilge, S. and Burgner-Kahrs, J., 2025. A Non-Linear Model Predictive Task-Space Controller Satisfying Shape Constraints for Tendon-Driven Continuum Robots. IEEE Robotics and Automation Letters.

[2] Lilge, S., Nuelle, K., Childs, J.A., Wen, K., Rucker, D.C. and Burgner-Kahrs, J., 2024. Parallel-continuum robots: a survey. IEEE Transactions on Robotics, 40, pp.3252-3270.

[3] Lilge, S. and Burgner-Kahrs, J., 2022. Kinetostatic modeling of tendon-driven parallel continuum robots. IEEE Transactions on Robotics, 39(2), pp.1563-1579.

[4] Lilge, S., Barfoot, T.D. and Burgner-Kahrs, J., 2022. Continuum robot state estimation using gaussian process regression on se (3). The International Journal of Robotics Research, 41(13-14), pp.1099-1120.

[5] Rao, P., Peyron, Q., Lilge, S. and Burgner-Kahrs, J., 2021. How to model tendon-driven continuum robots and benchmark modelling performance. Frontiers in Robotics and AI, 7, p.630245.