Grasp Analysis and Manipulation Kinematics for Isoperimetric Truss Robots
Zachary M. Hammond Nathan S. Usevitch Sean Follmer Zachary M. Hammond Nathan S. Usevitch Sean Follmer
Soft isoperimetric truss robots have demonstrated an ability to grasp and manipulate objects using the members of their structure. The compliance of the members affords large contact areas with even force distribution, allowing for successful grasping even with imprecise open-loop control. In this work we present methods of analyzing and controlling isoperimetric truss robots in the context of gra...