首页|Italian Institute of Technology Reports Findings in Robotics (Optimal configurat ions for stiffness and compliance in human & robot arms)
Italian Institute of Technology Reports Findings in Robotics (Optimal configurat ions for stiffness and compliance in human & robot arms)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – New research on Robotics is the subjec t of a report. According to news reporting out of Genoa, Italy, by NewsRx editor s, research stated, “Research in neurophysiology has shown that humans are able to adapt the mechanical stiffness at the hand in order to resist disturbances. T his has served as inspiration for optimising stiffness in robot arms during mani pulation tasks.” Financial support for this research came from Istituto Nazionale per l’Assicuraz ione Contro Gli Infortuni sul Lavoro. Our news journalists obtained a quote from the research from the Italian Institu te of Technology, “Endpoint stiffness is modelled in Cartesian space, as though the hand were in independent rigid body. But an arm is a series of rigid bodies connected by articulated joints. The contribution of the joints and arm configur ation to the endpoint stiffness has not yet been quantified. In this paper we us e mathematical optimisation to find conditions for maximum stiffness and complia nce with respect to an externally applied force. By doing so, we can retroactive ly explain observations made about humans using these mathematically optimal con ditions. We then show how this optimisation can be applied to robotic task plann ing and control. Experiments on a humanoid robot show similar arm posture to tha t observed in humans. This suggests there is an underlying physical principle by which humans optimise stiffness.”
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