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Dynamic optimization of tendon tensions in biomorphically designed hands with rolling constraints
2011 IEEE International Conference on Robotics and Automation
Biomorphic structures for robotic manipulation based on tendon-driven mechanisms have been considered in robotic design for several decades, since they provide lightweight end-effectors with high dynamics. Following this trend, many new robot designs have being proposed based on tendon driven systems. Quite noticeably, the most advanced ones include also higher kinematic pairs and unilateral types of constraints. In this paper, we present a general framework for modeling the above class ofdoi:10.1109/icra.2011.5979725 dblp:conf/icra/GabicciniBB11 fatcat:6snsegqadbgahpkuc5mmpz2kxy