Actuators MDPI

An Overview of Shape Memory Polymers for Soft Robotics!
Full paper: https://bit.ly/3XDrTQu
Feel free to check it out!

Paper entitled “Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator” has been chosen for the cover of Actuators Volume 11, Issue 11.

Cover Story: In this work, an inverse dynamics-based whole-body controller is presented for a torque-controlled quadrupedal manipulator capable of performing locomotion while executing manipulation tasks. Unlike existing methods that deal with locomotion and manipulation separately, the proposed controller can handle them uniformly, which can take into account the coupling effects between the base, the limbs, and the manipulated object. The controller tracks the desired task-space motion references based on a hierarchical optimization algorithm, given a set of hierarchies that define strict priorities and the importance of weighting each task within a hierarchy. Several simulations have been performed to demonstrate the effectiveness of the proposed controller.

Paper link: https://bit.ly/3EhfKrG
Issue link: https://bit.ly/3tAr4Kj
Feel free to check them out!