WikiJournal Preprints/An Extension of Denavit-Hartenberg Parameters Toward Modeling Soft Limbs

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Abstract

An attempt at modeling and simulating soft limbs using Denavit-Hartenberg parameters. We model a soft limb as a serial manipulator with a sufficient number of joints to capture the behavior of a continuous limb.

Introduction

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Design

Double Pendulum

Methodology

Results

Additional information

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