1. Comparison of predicted and measured forces and moments.
Comparison of predicted and measured forces and moments. (A) Flat gripper array: measurements taken in one quadrant, assuming symmetry. Labeled vertices B to E correspond to loading scenarios in (B) to (E), respectively. (F) Curved gripper array: measurements taken in two quadrants, assuming symmetry. Labeled vertices G to J correspond to loading scenarios in (G) to (J). (K) The residuals between the model and data for all loading planes. Additional loading scenarios and limit surfaces are included in the Supplementary Materials.
Hao Jiang et al. Sci. Robotics 2017;2:eaan4545
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