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EnglishWe present a general framework for the modelling of a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Methods previously developed for the analysis of force distribution in multiple whole-limb manipulation are generalised to this broader class of mechanisms, and are shown to provide a basis for the control of co-contraction and internal forces that guarantee proper operation of the system
| Titolo: | Articulated Structures with Tendon Actuation for Whole-Limb Manipulation | |
| Autori interni: | ||
| Anno del prodotto: | 1994 | |
| Rivista: | ||
| Abstract: | We present a general framework for the modelling of a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Methods previously developed for the analysis of force distribution in multiple whole-limb manipulation are generalised to this broader class of mechanisms, and are shown to provide a basis for the control of co-contraction and internal forces that guarantee proper operation of the system | |
| Handle: | http://hdl.handle.net/11568/26650 | |
| ISBN: | 0818653302 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11568/26650
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