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PC7 Model: Dynamics of Expanding and Contracting Soft Robots using Piece-wise Constant 7D Deformation Based on Similarity Transformation Group
Yamato Kudo, Taiki Ishigaki, Ko Ayusawa +1
This paper proposes a novel soft robot model named piece-wise constant 7D deformation (PC7) model that can represent expanding and contracting deformation of, for example, artifici…
Implicit Null-space Manifold Generation for Redundant Robotic Systems
Taiki Ishigaki, Teresa Vidal-Calleja, Ko Ayusawa +1
Robotic systems with redundant degrees of freedom can achieve the same task outcome using multiple configurations, resulting in solution sets that form manifolds in the configurati…
Structured Jacobian Construction for Motion Optimization with High-Order Time Derivatives in Multi-Link Systems
Taiki Ishigaki, Ko Ayusawa, Eiichi Yoshida
This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-…