Frequency Modulation in Anthropomorphic Robots with Kinematic and Force Redundancies
نویسندگان
چکیده
Typical biomechanical systems such as human bo~ and mammals possess abundant muscles which are more than required for motion generation of such systems, The purpose of this work is to verljj a biological phenomenon, the so called frequency modulation, in a mathematical manner, The frequency modulation represents a simultaneous control of force and kinematic redundancies. The phenomenon of frequency modulation is explained through a human-like anthropomorphic robot. A load distribution method for frequency modulation via redundant actuation is also introduced. To show the effectiveness of the proposed algorithms, several simulation results are illustrated,
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تاریخ انتشار 1998