ABSTRACT
This paper proposes a framework extending dexterity input classification to differentially flat systems with non-affine dynamics, enabling synergy-based control for a broader class of manipulation problems.
PAPER · PDF
Loading PDF…
Key findings
Establishes a mapping between flat output space and full state-input space of complex robotic systems.
Develops algorithms for flat output selection and synergy extraction.
Proposes a comprehensive experimental validation plan with simulation benchmarks and hardware demonstrations.
Limitations & open questions
The paper does not discuss the computational complexity of the proposed algorithms.
The experimental validation plan is proposed but not yet executed.