• Hand Biomorphic Optimization

In this thesis, we present a general framework to model and control a class of biomorphically designed systems for robotic manipulation. Such system, are composed of a set of rigid bodies, interacting through unilateral rolling contact, and are actuated by a net of elastic tendons. Method based on convex analysis are applied to study this class of mechanisms, and are shown to provide a basis for the dynamic control of co-contraction and internal forces that guarantee the correct operation of the system, despite limited friction between contacting surfaces or object fragility. An algorithm is described
and tested that integrate a computed torque law, and allows to control tendon actuators to optimally comply with the prescribed constraints.