Optimal Contact Points for an Octopus Arm
نویسندگان
چکیده
Abstract We investigate the optimality of configurations a tentacle-like soft manipulator ensuring planar force-closure condition. In particular, optimization is performed with respect to both control strategies and set contact points planar, frictionless, first-order target. The case an elliptic target object discussed in detail, numerical simulation are presented.
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ژورنال
عنوان ژورنال: SN computer science
سال: 2022
ISSN: ['2661-8907', '2662-995X']
DOI: https://doi.org/10.1007/s42979-022-01345-0