G.S. Chirikjian

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A "discretely actuated robotic manipulator", or "D-ARM", is any member of a class of robotic manipulators powered by actuators that have only discrete positional stable states such as solenoids. One of the most significant kinematic phenomena of D-ARMs is the discreteness of both input range and end-effector frames. The main characteristics of D-ARMs are:(More)
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