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Publikováno v:
RoboSoft
Continuum manipulators describe robotic arms which achieve motion by bending continuously along their length. This paper presents a kinematic parameterization of such arms, which avoids a problematic singularity common to previous approaches. It prov
Autor:
Thomas F. Allen, Jonathan B. Pompa, Hein Gabriel F, Maria J. Telleria, Wyatt Felt, Albert Kevin B, C. David Remy
Publikováno v:
Robotics: Science and Systems
In this work we present a novel, inductance-based system to measure and control the motion of bellows-driven continuum joints in soft robots. The sensing system relies on coils of wire wrapped around the minor diameters of each bellows on the joint.
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (p. 115-117).
This thesis explores the efficiency potential inherent to series elastic actuators during oscilla
Includes bibliographical references (p. 115-117).
This thesis explores the efficiency potential inherent to series elastic actuators during oscilla
Externí odkaz:
http://hdl.handle.net/1721.1/39743