A Fast and Reliable Pick-and-Place Application with a Spherical Soft Robotic Arm
Online appendix
dc.contributor.author
Zughaibi, Jasan
dc.contributor.author
Hofer, Matthias
dc.contributor.author
D'Andrea, Raffaello
dc.date.accessioned
2022-08-31T07:30:07Z
dc.date.available
2021-02-18T10:09:48Z
dc.date.available
2021-02-18T10:32:36Z
dc.date.available
2021-06-22T08:26:38Z
dc.date.available
2022-08-31T07:30:07Z
dc.date.issued
2021
dc.identifier.uri
http://hdl.handle.net/20.500.11850/470203
dc.identifier.doi
10.3929/ethz-b-000470203
dc.description.abstract
This document is the online appendix to the paper "A Fast and Reliable Pick-and-Place Application with a Spherical Soft Robotic Arm" submitted to the IEEE International Conference on Soft Robotics 2021. We present a detailed mathematical analysis of a control allocation mapping of an antagonistically actuated soft robotic arm. The control allocation simplifies the modeling and control as it allows us to consider the dynamics as decoupled. We discuss its properties and present further validation experiments.
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dc.format
application/pdf
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dc.language.iso
en
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dc.publisher
ETH Zurich
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dc.rights.uri
http://creativecommons.org/licenses/by-sa/4.0/
dc.title
A Fast and Reliable Pick-and-Place Application with a Spherical Soft Robotic Arm
en_US
dc.type
Other Conference Item
dc.rights.license
Creative Commons Attribution-ShareAlike 4.0 International
ethz.title.subtitle
Online appendix
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ethz.size
6 p. accepted version
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ethz.version.deposit
acceptedVersion
en_US
ethz.event
4th International Conference on Soft Robotics (RoboSoft 2021)
en_US
ethz.event.location
Online
en_US
ethz.event.date
April 12-16, 2021
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ethz.notes
Conference lecture held on April 16, 2021. Due to the Coronavirus (COVID-19) the conference was conducted virtually.
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ethz.publication.place
Zurich
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ethz.publication.status
published
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ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02619 - Inst. Dynam. Syst. u. Regelungstechnik / Inst. Dynamic Systems and Control::03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
en_US
ethz.relation.isSupplementTo
20.500.11850/505265
ethz.date.deposited
2021-02-18T10:09:58Z
ethz.source
FORM
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yes
en_US
ethz.availability
Open access
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ethz.rosetta.installDate
2021-06-22T08:26:47Z
ethz.rosetta.lastUpdated
2023-02-07T05:52:38Z
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