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2011_GBB_ICRA.pdf
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🔗 Source: centropiaggio.unipi.it
📊 Size: 503 KB
📄 Pages: 7 pages
⬇️ Downloads: 56

Summary

Researchers propose a framework for modeling and controlling biomorphic robotic hands with tendon-driven mechanisms and rolling constraints. The approach uses convex analysis to optimize tendon tensions, ensuring correct operation despite limited friction or object fragility. An algorithm is presented to control tendon actuators, integrating a computed torque law to comply with prescribed constraints. The methodology is demonstrated on a three-fingered tendon-driven hand with unilateral rolling constraints, showing promising simulation results for unified position and force control of complex biomorphic structures.

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Description

Researchers propose a framework for modeling and controlling biomorphic robotic hands with tendon-driven mechanisms and rolling constraints.

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  • File Format: PDF
  • File Size: 503 KB
  • Pages: 7
  • Language: EN
  • Total Downloads: 56
  • Last Updated: 3 weeks ago

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