Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane.

Ken Masuya Kenji Tahara

Published in: AIM (2020)

Keyphrases

data driven
ground plane
control system
hard constraints
control method
three dimensional
mathematical model
curved surfaces
force control
parallel manipulator
control strategy
optimal control
planar surfaces
projective transformations
planar regions