3 papers
cs.RO2026
X-ACTA: eXtended Analytic Center Tension distribution Algorithm for fixed and mobile cable-driven-parallel-robot
Domenico Dona', Vincenzo Di Paola, Alberto Trevisani +1
Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabilities in challenging scenarios such as during aggressive maneuvers…
cs.RO2026
Performance and Experimental Analysis of Strain-based Models for Continuum Robots
Annika Delucchi, Vincenzo Di Paola, Andreas Müller +1
Although strain-based models have been widely adopted in robotics, no comparison beyond the uniform bending test is commonly recognized to assess their performance. In addition, th…
cs.RO2025
Stiffness-based Analytic Centre Method for Cable-Driven Parallel Robots
Domenico Dona', Vincenzo Di Paola, Matteo Zoppi +1
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simu…