2 papers
cs.RO2024
Incorporating General Contact Surfaces in the Kinematics of Tendon-Driven Rolling-Contact Joint Mechanisms
Junhyoung Ha, Chaewon Kim, Chunwoo Kim
This paper presents the first kinematic modeling of tendon-driven rolling-contact joint mechanisms with general contact surfaces subject to external loads. We derived the kinematic…
cs.RO2024
Development of Tendon-Driven Compliant Snake Robot with Global Bending and Twisting Actuation
Seongil Kwon, Serdar Incekara, Gangil Kwon +1
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biologica…