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A multi-level control architecture for the bionic handling assistant
2015
Advanced Robotics
The Bionic Handling Assistant is one of the largest soft continuum robots and very special in being a pneumatically operated platform that is able to bend, stretch, and grasp in all directions. It nevertheless shares many challenges with smaller continuum and other softs robots such as parallel actuation, complex movement dynamics, slow pneumatic actuation, non-stationary behavior, and a lack of analytic models. To master the control of this challenging robot, we argue for a tight integration
doi:10.1080/01691864.2015.1037793
fatcat:nx2ikz3225etlhixogqxydlmxq