Unified Inverse Dynamics of Modular Serial Mechanical Systems with
Application to Soft Robotics
Unified Inverse Dynamics of Modular Serial Mechanical Systems with
Application to Soft Robotics
The robotic field has been witnessing a progressive departure from classic robotic systems composed of serial/stiff links interconnected by simple rigid joints. Novel robotic concepts, e.g., soft robots, often maintain a series-like structure, but their mechanical modules exhibit complex and unconventional articulation patterns. Research in efficient recursive formulations of the …