𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Anthropomorphic robotics

✍ Scribed by M. Benati; S. Gaglio; P. Morasso; V. Tagliasco; R. Zaccaria

Publisher
Springer-Verlag
Year
1980
Tongue
English
Weight
850 KB
Volume
38
Category
Article
ISSN
0340-1200

No coin nor oath required. For personal study only.

✦ Synopsis

An important factor in trying to capture the complexity of many manipulation problems is the notion of Output Motor Impedance, i.e., the relationship between a set of disturbing forces and the resulting variation in arm configuration. The functional significance of such force/displacement characteristics is investigated, showing how several aspects of different manipulation tasks (holding against gravity, inserting, fast moving, and throwing) can be naturally described in terms of appropriate modulation of the impedance characteristics of the manipulator. For this reason, impedance modulation can be considered an integral part of motor control.

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