...Jianhua Li; Yuanyuan Zhou; Chongyang Wang; Zhidong Wang; Hao Liu The shape prediction of tendon-driven continuum manipulators is a challenging problem due to the effect of inner friction and external force. Many researchers use actuation displacement or actuation force as model input to predict...

...Yu Zheng; Chee-Meng Chew In the research of multicontact robotic systems, the equilibrium test and contact force distribution are two fundamental problems, which need to determine the existence of feasible contact forces subject to the friction constraint, and their optimal values...

... through a planar warehouselike environment. We formulate a quasistatic model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present the experimental results...