Table 2 Subtasks against engagement of individual actuators
Subtask | Associated DOFs | Right motor \(\tau_{\text{R}}\) | Left motor \(\tau_{\text{L}}\) | Linear actuator I, \(F_{1}\) | Linear actuator II, \(F_{2}\) |
|---|---|---|---|---|---|
Moving and picking | \(\delta_{\text{L}}\), \(\delta_{\text{R}} , \theta\) | ✓ | ✓ | ✕ | ✕ |
IB extension | \(\delta_{\text{L}}\), \(\delta_{\text{R}} , \theta , h_{1}\) | ✓ | ✓ | ✓ | ✕ |
Extension: end effector | \(\delta_{\text{L}}\), \(\delta_{\text{R}} , \theta , h_{2}\) | ✓ | ✓ | ✕ | ✓ |
Reverse: end effector | \(\delta_{\text{L}}\), \(\delta_{\text{R}} , \theta , h_{2}\) | ✓ | ✓ | ✕ | ✓ |
IB contraction | \(\delta_{\text{L}}\), \(\delta_{\text{R}} , \theta , h_{1}\) | ✓ | ✓ | ✓ | ✕ |
Placing the object | \(\delta_{\text{L}}\), \(\delta_{\text{R}} , \theta , h_{2}\) | ✓ | ✓ | ✕ | ✕ |