To resemble the body flexibility of biological snakes, snake-like robots are designed as a chain of body modules, which gives them many degrees of freedom (DoF) on the one hand and leads to a challenging task to control them on the other. Compared with conventional model-based control methods, reinforcement learning (RL)-based ones provide promising solutions to design agile … [Read more...] about Simulation to Real: Learning Energy-Efficient Slithering Gaits for a Snake-Like Robot
Mathematical models
Cable-Driven Parallel Robots: Typical Configurations, Analysis Techniques, and Control Methods
Cable-driven parallel robots (CDPRs) have applications in large workspaces and at high operating speeds, which necessitates considering the mass and elasticity of cables for accurate analyses of kinematics, dynamics, workspace, trajectory planning, and control. In this article, first, the typical CDPR configurations along with their application areas are summarized. Then, … [Read more...] about Cable-Driven Parallel Robots: Typical Configurations, Analysis Techniques, and Control Methods
