Preprint Open access
Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot
Soft continuum robots can exploit distributed compliance for whole-body manipulation, but synthesizing behavior through changing contacts remains difficult. We address whole-body grasping and pick-and-throw from an initially ungrasped state through outcome-based actuation-space optimization. Grasping is quantified by t …