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Article | REF: S7851 V1

Inverse kinematics of soft robots in their environment

Author: Eulalie COEVOET

Publication date: July 10, 2021

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4. Inverse kinematics with contacts handling

As soft robotics applications generally involve interaction between the robot and its environment, and using a controller with no knowledge of the contacts that occur on the real robot may have adverse effects (figure  9 ), we extend the optimization problem, detailed in section 

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Inverse kinematics with contacts handling
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