Abstract
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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Albers, A., Frietsch, M., Sander, C. (2010). Improving Positioning Accuracy of Robotic Systems by Using Environmental Support Constraints – A New Bionic Approach. In: Ge, S.S., Li, H., Cabibihan, JJ., Tan, Y.K. (eds) Social Robotics. ICSR 2010. Lecture Notes in Computer Science(), vol 6414. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17248-9_20
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DOI: https://doi.org/10.1007/978-3-642-17248-9_20
Publisher Name: Springer, Berlin, Heidelberg
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