Name
Title | ||
|---|---|---|
Manipulability and Robustness Optimization of the Cable-Driven Redundant Soft Manipulator |
Abstract | ||
|---|---|---|
Redundancy makes soft manipulators manage to complete a variety of tasks in complex environments. However, a pseudo-inverse kinematics controller for redundant soft manipulators simply maximizes the manipulability while ignoring some material constraints, e.g., actuation saturation and control noise. As manipulability is the indicator for the dexterity of motion in all directions of the redundant ... |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ROBIO54168.2021.9739301 | 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
Keywords | DocType | ISBN |
Conferences,Biomimetics,Redundancy,Kinematics,Manipulators,Robustness,Trajectory | Conference | 978-1-6654-0535-5 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
6 | ||