Trajectory Optimization for Thermally-Actuated Soft Planar Robot Limbs
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)(2022)
摘要
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on simplified approximations of the soft arm and its antagonistic shape-memory alloy actuator coils, we justify a dynamics model of a discretized rigid manipulator with joi...
更多查看译文
关键词
Conferences,Wires,Dynamics,Metals,Soft robotics,Hardware,Data models
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要