Kinematic networks distributed model for representing and regularizing motor redundancy
Biological Cybernetics
The structural synthesis of Tendon-Driven manipulators having a pseudotriangular structure matrix
International Journal of Robotics Research
On the closure properties of robotic grasping
International Journal of Robotics Research
Parameter Sensitivity Analysis for Design and Control of Tendon Transmissions
The 4th International Symposium on Experimental Robotics IV
Data-Driven Grasp Synthesis Using Shape Matching and Task-Based Pruning
IEEE Transactions on Visualization and Computer Graphics
A design and analysis tool for underactuated compliant hands
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On the role of hand synergies in the optimal choice of grasping forces
Autonomous Robots
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We present a general framework for modeling 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, inter-acting 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 generalized 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. In particular, in the presence of constraints such as those due to limited friction between surfaces or object fragility, the choice of tendon tensions is crucial to the success of manipulation. An algorithm is described that allows to evaluate efficiently set-points for the control of tendon actuators that “optimally” (in a sense to be described) comply with the given constraints.