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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...
High nonlinearity and limited computational resources create persistent challenges for achieving autonomous, stable, and accurate locomotion in insect-scale crawling robots, hindering their practical deployment. In this study, we build the mathematical models of the insect-scale micro crawling robot named PLioBot and p...
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