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- W4285113210 abstract "Soft robots are expected to replace human tasks and assist people in their daily lives. In order to control robotic tasks with flexible mechanisms and materials, alternative methods to conventional rigid robot control are needed. In this paper, we propose a robot kinematics and control method applicable to a robot arm with flexible joints. In order to avoid using exact rotation angles of the joints with rigid rotation axis, we derive a kinematic method that reduces the dependence on the joint variables. A prototype 2 link robot arm is built with 4 flexible joints (shoulder 3 and elbow 1). Using the prototype arm, we tested the motion control with the derived kinematics. We also tested to execute unplugging electric outlet task in a manner that mimic human motion." @default.
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- W4285113210 date "2022-01-01" @default.
- W4285113210 modified "2023-09-27" @default.
- W4285113210 title "Controlling a Tendon-driven Flexible Jointed Robot Arm without Depending on the Joint Space" @default.
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- W4285113210 doi "https://doi.org/10.7210/jrsj.40.431" @default.
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