Fishing for Data: Modeling, Optimal Planning, and Iterative Learning Control for Flexible Link Robots

In this work, we address the problem of precise motion planning and control of flexible-link robots for throwing small objects. Thanks to lightweight materials and elastic bodies, flexible robots can perform fast motions with few actuators. However, they need a planning and control strategy capable...

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Bibliographic Details
Published in:	IEEE transactions on control systems technology Vol. 33; no. 5; pp. 1667 - 1683
Main Authors:	Pierallini, Michele, Krishnan Muttathil Gopanunni, Ramesh, Angelini, Franco, Bicchi, Antonio, Garabini, Manolo
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.09.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators Casting Dynamic programming Elastic bodies Elasticity Environmental monitoring Feedforward systems Fishing rods iterative learning control (ILC) Learning motion control Motion planning Parameter identification Payloads Planning Robot control Robot dynamics Robots Soft robotics Strategy Throwing Trajectory Uncertainty
ISSN:	1063-6536, 1558-0865
Online Access:	Get full text
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