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cs.RO2026
Low Clearance Hinge Joint Mechanism Based on 3D Printing on Sheet Fabrication Methodology
Jaehyung Jang, Euibin Shin, Allison M. Okamura +1
This paper presents a low-clearance hinge joint mechanism based on the 3D printing on sheet fabrication method. This approach simplifies the fabrication of hinge mechanisms and ove…
cs.RO2026
One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems
Jaehyung Jang, Zhenish Zhakypov, Jasmin Elena Palmer +3
Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy and hinder scaling to multi-degree-of-freedom (DoF) systems. We intro…
cs.RO2026
Adaptive Control of Motor-Position-Controlled Flexible Joint Robots with Uncertain Joint Stiffness
Annika Kirner, Grazia Zambella, Igor Kovacevic +3
Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of the joint compliance. In practice, precise stiffness models are ofte…