Abstract
A study of the fundamental principles upon which manipulation dexterity is based cannot help mixing robotic and neurophysiological concepts. A preliminary step in this study consists of trying to understand the complexity of manipulation dynamics. Though complexity shows itself in the massive number of elements of kinematic and dynamic equations, the fundamental simplicity of the underlying mechanical laws suggests to look for a structure, particularly from the computational point of view. Accordingly, a working computational model is proposed that organizes the massive computational load into a structure which is composed of a small number of computational units and lends itself to parallel computation.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Benati, M., Morasso, P., Tagliasco, V.: The inverse kinematic problem in manipulator control. Internal Report, E.E. Dept., Genova Univ. 1980
Bisshop, K.E.: Rodrigues formula and the screw matrix. Trans. ASME, J. Eng. Ind. 91, 179–185 (1969)
Brousse, P.: Cours de mecanique. Paris: Colin 1973
Corben, H.C., Stehle, P.: Classical mechanics. New York: Wiley 1950
De Kleer, J.: Qualitative and quantitative knowledge in classical mechanics (A.I. Laboratory, TR-352) Cambridge, MA: MIT Press 1975
Dillon, S.R.: Automated equation generation and its application to problems in control. Proceed. 15th Joint Automatic Control Conf., Austin, Texas, 1974
Flatau, C.R.: The future of generalized robotic manipulators. Proceed. N.S.F. Workshop on the Impact on the Accad. Commun. of Required Res. Activity for General Robotic Manip., Univ. of Florida 1978
Hollerbach, J.M.: A recursive lagrangian formulation of manipulator dynamics and a comparative study of dynamics formulation complexity. AI Memo 533, MIT Artif. Intell. Labor, 1979
Horn, B.K.P., Raibert, M.H.: Configuration space control. AI Memo 458, MIT Artif. Intell. Labor, 1977
Luh, J., Walker, M., Paul, R.: Newton-Euler formulation of manipulator dynamics for computer control. 2nd IFAC/IFIP Symp. on Inform. Control Probl. in Manufact. Technol., Stuttgart 1979
Lur'é, L.: Méchanique analytique Paris: Masson 1968
Marr, D., Poggio, T.: From understanding computation to understanding neural circuitry. AI Memo 357, MIT Artif. Intell. Labor, 1976
Nevins, J.L., Whitney, D.E.: The force vector assembly concept. (C.S. Draper Laboratory, Report E-2754) Cambridge, MA: MIT Press 1973
Orin, D.E., Mc Ghee, R.B., Vukobratovich, M., Hartoch, G.: Kinematic and kinetic analysis of open chain linkages utilizing Newton-Euler methods. Math. Biosci. 43, 107–130 (1979)
Paul, R.: Modelling, trajectory calculation, and servoing of a computer controlled arm. AI Memo 177, Stanford Artif. Intell. Labor, 1972
Raibert, M.H.: A model for sensorimotor control and learning. Biol. Cybernetics 29, 29–36 (1978)
Sturges, R.: Teleoperator arm design program (TOAD). (C.S. Draper Labor., Report 3-2746) Cambridge, MA: MIT Press (1973)
Uicker, J.J.: On the dynamic analysis of spatial linkages using 4x4 matrices. Ph.D. Thesis, Northwestern Univ. 1965
Van Trees, H.L.: Detection, estimation, and modulation theory. New York: Wiley & Sons 1968
Vukobratovic, M.: Dynamics of active articulated mechanisms and synthesis of artificial motion. Mech. Mach. Theory 13, 1–56 (1978)
Whitney, D.E.: Resolved motion rate control of manipulators and human prostheses. IEEE Trans. Man-Mach. Syst. MMS-10, 47–53 (1969)
Winston, P.H., Brown, R.H. (eds.): Artificial intelligence: an MIT perspective. Cambridge, MA: MIT Press 1979
Author information
Authors and Affiliations
Additional information
This work was supported by a CNR International Project Contract
Rights and permissions
About this article
Cite this article
Benati, M., Gaglio, S., Morasso, P. et al. Anthropomorphic robotics. Biol. Cybernetics. 38, 125–140 (1980). https://doi.org/10.1007/BF00337402
Received:
Issue Date:
DOI: https://doi.org/10.1007/BF00337402