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From Biomechanics to Robotics

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Biomechanics of Anthropomorphic Systems

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 124))

Abstract

How does the central nervous system select and coordinate different degrees of freedom to execute a given movement? The difficulty is to choose specific motor commands among an infinite number of possible ones. If some invariants of movement can be identified, there exists however considerable variability showing that motor control favors rather an envelope of possible movements than a strong stereotypy. However, the central nervous system is able to find extremely fast solutions to the problem of muscular and kinematic redundancy by producing stable and precise movements. To date, no computational model has made it possible to develop a movement generation algorithm with a performance comparable to that of humans in terms of speed, accuracy, robustness and adaptability. One of the reasons is certainly that correct criteria for the synthesis of movement as a function of the task have not yet been identified and used for motion generation. In this chapter we propose to study highly dynamic human movements taking into account their variability, making the choice to consider performance biomechanical variables (tasks) for generating motions and involving whole-body articulations.

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Acknowledgements

Part of this work is supported by the European Research Council for the project Actanthrope (ERC-ADG347 340050) and the Flag-Era European project RoboCom++.

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Authors and Affiliations

  1. LAAS-CNRS, Université de Toulouse, CNRS, UPS, Toulouse, France

    Galo Maldonado & Bruno Watier

  2. LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France

    Philippe Souères

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  1. Galo Maldonado
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  2. Philippe Souères
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  3. Bruno Watier
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Correspondence to Galo Maldonado .

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Editors and Affiliations

  1. Tokyo, Japan

    Gentiane Venture

  2. LAAS-CNRS , Toulouse, France

    Jean-Paul Laumond

  3. Toulouse, France

    Bruno Watier

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Maldonado, G., Souères, P., Watier, B. (2019). From Biomechanics to Robotics. In: Venture, G., Laumond, JP., Watier, B. (eds) Biomechanics of Anthropomorphic Systems. Springer Tracts in Advanced Robotics, vol 124. Springer, Cham. https://doi.org/10.1007/978-3-319-93870-7_3

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