We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring a planar force-closure condition. In particular, the optimization is performed with respect to both to the control strategies and to the set of contact points ensuring a planar, frictionless, first-order force-closure of the target. The case of an elliptic target object is discussed in detail, and numerical simulation are presented.
Optimal Contact Points for an Octopus Arm / Cacace, Simone; Lai, Anna Chiara; Loreti, Paola. - In: SN COMPUTER SCIENCE. - ISSN 2661-8907. - 3:6(2022). [10.1007/s42979-022-01345-0]
Optimal Contact Points for an Octopus Arm
Cacace, Simone;Lai, Anna Chiara
;Loreti, Paola
2022
Abstract
We investigate the optimality of the configurations of a tentacle-like soft manipulator ensuring a planar force-closure condition. In particular, the optimization is performed with respect to both to the control strategies and to the set of contact points ensuring a planar, frictionless, first-order force-closure of the target. The case of an elliptic target object is discussed in detail, and numerical simulation are presented.File allegati a questo prodotto
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