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

ArXi:2604.17863v1 Announce Type: cross 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.