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In this work, we propose a method to compute the stiffness of flexible joints and its realization in order to let the fingers track a certain predefined trajectory. We refer to tendon-driven, underactuated and passively compliant hands composed of deformable joints and rigid links. Specific stiffness and pre-form shapes can be assigned to the finger joints can be given s such that a single-cable actuation...
In order to understand fluid transport throughout esophageal swallowing in man, a biologically inspired soft-robotic peristaltic actuator has been designed and manufactured to perform biomimetic swallowing. To achieve congruence with current mathematical modeling techniques for esophageal peristalsis, this paper examines the capability of the device (empirical) towards achieving sinusoidal transport...
One of the key challenges for learning manipulation skills is generalizing between different objects. The robot should adapt both its actions and the task constraints to the geometry of the object being manipulated. In this paper, we propose computing geometric parameters of novel objects by warping known objects to match their shape. We refer to the parameters computed in this manner as warped parameters,...
Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly difficult when obstacles are present in the manipulatorpsilas workspace. In this paper it is assumed that the obstacles can be approximated in a conservative way with discs. The goal is to represent the obstacles in the robot configuration space, in order to allow an efficient...
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