3 accepted papers
Category-based methods for task-specified grasp planning have recently been proposed in the literature. Such methods, however, are normally time consuming in both training and grasp determination process and lack capabilities to improve grasping skills due to the fixed training data set. This paper…
This letter proposes an $N$-link snake robot with parallel elastic actuators (PEA) and a stiffness property that reduces the energy consumption during fast movement. Each PEA couples the actuator output to a spring element, enhancing the periodic gait as demonstrated in previous studies of walking r
In this paper, we try to draw attention to a particular type of force that has been somehow overlooked in the control of mechanical manipulators: gyroscopic force. At first, we broaden our understanding of gyroscopic effect intrinsic in mechanical systems by reformulating the Euler-Lagrange (EL) equ…