2018
A Closed-Form Analytical Modeling of Internal Impulses With Application to Dynamic Machining Task: Biologically Inspired Dual-Arm Robotic Approach
RA-L 2018
Inspired by the human upper extremity, a musculoskeletal dual-arm manipulator is designed for light machining tasks such as hammering and sawing. We claim that musculoskeletal structure has the advantage over conventional robot structures in terms of less internal impulsive forces while performing t