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Recently, the tendon-driven mechanism with variable joint stiffness has received attention for use in the development of a humanoid robot operated in an uncertain environment with physical contact. In this paper, we propose a mechanism to control the position and joint stiffness of a tendon-driven manipulator independently, using dedicated actuators. This mechanism consists of two parts: a component...
Direct teaching is suitable for generating motions of robot arms which have complex kinematics. So far, we have proposed a direct teaching method specialized for musculoskeletal robot arms actuated by pneumatic artificial muscles (PAMs) based on their pressure and tension information. In the method, it is important to prevent slacks and excessive tensions of PAMs to efficiently obtain the pressure...
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