For the square shape, the upper (θU) and lower (θL) joint angles were set to 90°, while the center joint angle (θC) was set to 180°, ensuring that the actuator’s configuration matched the target shape. This angular setup was intended to test the actuator’s ability to achieve...
For the sake of parameter identification, either offline identification or online identification, the reduced dynamics model should be derived in order to eliminate these dependencies and similarities to make the parameter identification possible. 6.1 Offline tuning of base inertial parameters Base ...
In the testing stage, a chi-square statistical analysis of less than 5% was considered to validate the application of the filtering algorithm, managing to maintain a prediction of 83% of the test data within the same margin of error.Martínez-Blanco, Ma. del Rosario...
DOF Degrees of freedom, in a mechanics context, are specific, defined modes in which a mechanical device or system can move. The number of degrees of freedom is equal to the total number of independent displacements or aspects of motion. A machine may opera...