نسخة أولية وصول مفتوح
Learning a Resolution-Consistent Jacobian Field for Bio-Inspired Rigid-Soft Finger
Bio-inspired tendon-driven rigid-soft coupled dexterous fingers exhibit strong nonlinearity and configuration-dependent sensitivity, making accurate modeling challenging. In discrete-time control, Jacobian-based kinematic algorithms typically rely on point-wise local linear approximations, which makes their performance …