Periodic Steady-State Control of a Handkerchief-Spinning Task Using a Parallel Anti-Parallelogram Tendon-driven Wrist

• URL: http://arxiv.org/abs/2604.17863v1
• Date: Mon, 20 Apr 2026 06:21:12 GMT
• Title: Periodic Steady-State Control of a Handkerchief-Spinning Task Using a Parallel Anti-Parallelogram Tendon-driven Wrist
• Abstract summary: We develop an intuitive dexterous wrist based on a parallel anti-parallelogram tendon-driven structure.<n>We then develop a particle-spring model of the handkerchief for control-oriented abstraction and strategy evaluation.<n>Results demonstrate that integrating control-oriented modeling with a task-tailored dexterous wrist enables robust rest-to-steady-state transitions.
• Score: 37.0667004392926
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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 of approximately 99% and fingertip tracking error of RMSE = 2.88 mm in high-dynamic spinning. These results demonstrate that integrating control-oriented modeling with a task-tailored dexterous wrist enables robust rest-to-steady-state transitions and precise periodic manipulation of highly flexible objects. More visualizations: https://slowly1113.github.io/icra2026-handkerchief/

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