Motion Planning for Elastic, Non-Controlled, Hyper-Redundant Serial Mechanism
This paper introduces the kinematics and two motion planning schemes for a planar, hyper-elastic leaf-spring that is fully supported at the proximal end. The path of the leaf-spring's free-end depends on its zero-energy configuration and loaded initial configuration. These two configurations ne...
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8976154/ |