Daniil Kirsanov — accepted AI-conference papers

2021

On Smooth Time-Optimal Trajectory Planning in Twisted String Actuators

Simeon Nedelchev, Daniil Kirsanov, Igor Gaponov, Hyeonseok Seong, Jee-Hwan Ryu

ICRA 2021poster

Twisted string actuators (TSA) are efficient, compliant cable actuators with high power density that have found their way into many engineering and robotics applications in recent years. They are generally used in the scenarios involving comparatively slow positioning, since quick motions in TSAs of…

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2020

IMU-based Parameter Identification and Position Estimation in Twisted String Actuators

Simeon Nedelchev, Daniil Kirsanov, Igor Gaponov

IROS 2020poster

This study proposes a technique to estimate the output state of twisted string actuators (TSAs) based on payload's acceleration measurements. We outline differential kinematics relationships of the actuator, re-formulate these into a nonlinear parameter identification problem and then apply lineariz…

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