id: 05855153
dt: a
an: 05855153
au: Albers, Albert; Frietsch, Markus; Sander, Christian
ti: Improving positioning accuracy of robotic systems by using environmental
    support constraints ‒ a new bionic approach.
so: Ge, Shuzhi Sam (ed.) et al., Social robotics. Second international
    conference on social robotics, ICSR 2010, Singapore, November 23‒24,
    2010. Proceedings. Berlin: Springer (ISBN 978-3-642-17247-2/pbk).
    Lecture Notes in Computer Science 6414. Lecture Notes in Artificial
    Intelligence, 192-201 (2010).
py: 2010
pu: Berlin: Springer
la: EN
cc: 
ut: robotics; bionic; kinematics; dynamics; positioning accuracy
ci: 
li: doi:10.1007/978-3-642-17248-9_20
ab: Summary: In state of the art robotics, high positioning accuracy is
    achieved by using solid and stiff components as well as powerful
    drives. But in the field of social robotics, for example humanoid
    robots, it is often not possible using this approach due to special
    boundary conditions like design-space, weight-limitations,
    power-storage and many more.By contrast human beings are able to
    achieve remarkable high positioning accuracy despite of low mass, low
    power consumption and relatively simple mechanics. One approach to
    obtain this accuracy is to temporarily create additional supporting
    structures by interacting with the direct environment, for example
    supporting the heel of the hand on a table for writing. This article
    deals with the essential idea of applying this method correspondingly
    into the field of robotics. Using different simulations the influence
    on stiffness and positioning accuracy is examined. It turned out that
    blocking of even one degree of freedom can lead to a significant
    improvement regarding stiffness and therefore positioning accuracy.
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