Jaeu Choe

Sequential Trajectory Optimization for Externally-Actuated Modular Manipulators with Joint Locking

In this paper, we present a novel trajectory planning method for externally-actuated modular manipulators (EAMMs), consisting of multiple rotor-actuated links with joints that can be either locked or unlocked. This joint-locking feature allows effective balancing of the payload capacity and dexterit…