Robot's hand and expansions in non-integer bases
Anna Chiara Lai, Paola Loreti
TL;DR
This paper explores a robot hand model using non-integer base expansion theory to analyze its reachable workspace and configurations with form closure properties.
Contribution
It introduces a novel approach by applying non-integer base expansion theory to robot hand modeling and workspace analysis.
Findings
Identified the reachable workspace of the robot hand.
Analyzed configurations with form closure properties.
Provided mathematical insights into robot hand capabilities.
Abstract
We study a robot hand model in the framework of the theory of expansions in non-integer bases. We investigate the reachable workspace and we study some configurations enjoying form closure properties.
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Taxonomy
TopicsModular Robots and Swarm Intelligence · Robotic Mechanisms and Dynamics · Robot Manipulation and Learning