Steering Cable-Driven Parallel Robots (CDPRs) beyond their Wrench-Feasible Workspace (WFW) augments their capabilities in challenging scenarios such as during aggressive maneuvers or following a cable failure. In this context, although the determination of cable tensions is a well-studied topic, only a few approaches address these scenarios. Therefore, this paper introduces an extended version of the Analytic Center method as a criterion for selecting cable tensions outside the WFW while maintaining differentiability and including non-linear constraints. Notably, the proposed method maintains continuous and differentiable tension profiles, ensures fast real-time convergence to a unique solution, and, in contrast to other slack-based formulations, relegates wrench errors to a negligible area of the WFW. Its superiority in terms of smoothness and wrench error is confirmed via Pareto dominance with respect to the leading state-of-the-art method. Lastly, the effectiveness of the method is demonstrated through numerical experiments.
Cable-Driven Parallel Robots (CDPRs) are a type of parallel mechanism in which cables are used as actuators. Due to the two levels of redundancy and numerous constraints within the CDPR actuation, joint and operational spaces (together known as the tri-space), tracking a given tr…
Limbless robots offer exceptional mobility in confined and cluttered environments due to their slender bodies and their ability to exploit body-terrain interactions. Recent designs incorporating compliance demonstrate robust locomotion without complex sensing or control; however,…
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In robotic manipulation studies, grasping is often treated as a binary success or failure problem, usually defined by whether the object simply stays in the hand. For forceful tool use, however, this view is insufficient because grasp compliance becomes a critical factor governin…
Long-horizon robotic tasks require diverse capabilities that no single policy can reliably provide. Heterogeneous policies offer complementary strengths, but orchestrating them requires reasoning over uncertain capability boundaries and cross-policy distribution mismatch, which a…