A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2800098
Abstract: The humanoid robot David is equipped with a novel robotic neck based on an elastic continuum mechanism (ECM). To realize a model-based motion control, the six dimensional stiffness characteristics needs to be known. This letter… read more here.
Keywords: elastic continuum; stiffness characteristics; continuum mechanism; stiffness ... See more keywords
Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2927943
Abstract: In recent years, the application of continuum mechanisms increased as they provide high dexterity, consume a low amount of space, and handle unforeseen collisions with ease. Typically, a deformation model of the continuum is applied… read more here.
Keywords: estimation; deformation model; continuum mechanism; pose estimation ... See more keywords