Periodic Steady-State Control of a Handkerchief-Spinning Task Using a Parallel Anti-Parallelogram Tendon-driven Wrist
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and boundary constraints. To address these challenges, we first design an intuitive dexterous wrist based on a parallel anti-parallelogram tendon-driven structure, which achieves 90 degrees omnidirectional rotation with low inertia and decoupled roll-pitch sensing, and implement a high-low level hierarchical control scheme. We then develop a particle-spring model of the handkerchief for control-oriented abstraction and strategy evaluation. Hardware experiments validate this framework, achieving an unfolding ratio o...
| Authors | Lei Liu, Haonan Zhang, Huahang Xu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 20 April 2026 |
| Last updated at source | 20 April 2026 |
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