A. Bicchi et D. Prattichizzo, Analysis and optimization of tendinous actuation for biomorphically designed robotic systems, ROBOTICA, 18, 2000, pp. 23-31
We present a general framework for modeling a class of mechanical systems f
or robotic manipulation, consisting of articulated limbs with redundant ten
dinous actuation and unilateral constraints. Such systems, that include bio
morphically 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 dis
tribution in multiple whole-limb manipulation are generalized to this broad
er 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 descri
bed that allows to evaluate efficiently setpoints for the control of tendon
actuators that "optimally" points for the control of tendon actuators that
"optimally" (in a sense to be described) comply with the given constraints
.