2023
Optimal Design of Flexible-Link Mechanisms With Desired Load-Displacement Profiles
Guirec Maloisel, Espen Knoop, Christian Schumacher, Bernhard Thomaszewski, Moritz Bächer, Stelian Coros
RA-L 2023
Robot mechanisms that exploit compliance can perform complex tasks under uncertainty using simple control strategies, but it remains difficult to design mechanisms with a desired embodied intelligence. In this article, we propose an automated design technique that optimizes the desired load-displace