End-to-End From Human Hand Synergies to Robot Hand Tendon Routing

Hidalgo-Carvajal, Diego; Herneth, Christopher; Naceri, Abdeldjallil; Haddadin, Sami

doi:10.1109/lra.2022.3192649

Cited by 4 publications

(1 citation statement)

References 32 publications

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“…Arguably the most successful application of synergies has been as a principle of embodying intelligence into mechanical design. In this context, synergistic actuation has found substantial application in robotic hands (37)(38)(39)(40)(41), yielding devices that can grasp and manipulate objects with minimal sensing and control requirements, while using only a few actuation sources (typically one to four). However, to date, synergistic actuation has not been applied to locomotion.…”

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confidence: 99%

PAWS: A Synergy-Based Robotic Quadruped Leveraging Passivity for Robustness and Behavioural Diversity

Stella,

Achkar,

Santina

et al. 2023

Preprint

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Quadrupedal animals show remarkable capabilities in traversing diverse terrains and display a range of behaviors and gait patterns. Achieving similar performance is a key goal for robotics researchers. We propose a bio-inspired approach to the design of quadrupeds that seeks to exploit the body and the passive properties of the robot. Using this novel approach we develop \textit{PAWS}, a Passive Automata With Synergies. By leveraging the principles of motor synergies, the design incorporates variable stiffness, biological anatomical insights, and self-organization to simplify control while maximizing its capabilities. The resulting synergy-based quadruped requires only four actuators and exhibits emergent, animal-like dynamical responses, including robustness to environmental perturbations and a wide range of behaviors. The finding contributes to the development of machine intelligence, and provides robots with more efficient and natural-looking robotic locomotion by combining synergistic actuation, compliant body properties, and embodied compensatory strategies.

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confidence: 99%