Anthropomorphic robotics. I. Representing mechanical complexity

A study of the fundamental principles upon which manipulation dexterity is based cannot help mixing robotic and neurophysiological concepts. A preliminary step in this study consists of trying to understand the complexity of manipulation dynamics. Though complexity shows itself in the massive number of elements of kinematic and dynamic equations, the fundamental simplicity of the underlying mechanical laws suggests to look for a structure, particularly from the computational point of view. Accordingly, a working computational model is proposed that organizes the massive computational load into a structure which is composed of a small number of computational units and lends itself to parallel computation.