2 papers
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
An )-Algorithm for the Higher-Order Kinematics and Inverse Dynamics of Serial Manipulators using Spatial Representation of Twists
Andreas Mueller
Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces requi…