Towards Collision Detection, Localization and Force Estimation for a Soft Cable-driven Robot Manipulator
Yuxin Wang Hesheng Wang Fan Xu Junzhi Yu Weidong Chen Yun-Hui Liu Yuxin Wang Hesheng Wang Fan Xu Junzhi Yu Weidong Chen Yun-Hui Liu
Soft robots have been applied widely to various constrained scenarios due to the advantages over traditional rigid manipulators such as softness, deformability and adaptability to constrained surroundings. To make full use of this merit, this paper proposes a method that integrates collision detection, localization and force estimation for a cable-driven soft manipulator without any prior geometri...