Primate Anatomy: An Introduction. Friderun Ankel-Simons

Mark W. Hamrick

doi:10.1086/393690

Primate Anatomy: An Introduction. Friderun Ankel-Simons

The Quarterly Review of Biology ◽

10.1086/393690 ◽

2000 ◽

Vol 75 (4) ◽

pp. 473-474

Author(s):

Mark W. Hamrick

Keyword(s):

Primate Anatomy

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Impact of Captivity and Domestication on our Perspectives of Primate Anatomy and Behavior

Journal of Primatology ◽

10.4172/2167-6801.1000e142 ◽

2016 ◽

Vol 5 (1) ◽

Author(s):

Bruce Rothschild

Keyword(s):

Primate Anatomy ◽

And Behavior

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IMAGES: Primate Anatomy Lesson

Science ◽

10.1126/science.299.5604.179d ◽

2003 ◽

Vol 299 (5604) ◽

pp. 179d-179

Keyword(s):

Primate Anatomy

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PRIMATE ANATOMY, KINEMATICS, AND PRINCIPLES FOR HUMANOID DESIGN

International Journal of Humanoid Robotics ◽

10.1142/s0219843604000101 ◽

2004 ◽

Vol 01 (01) ◽

pp. 175-198 ◽

Cited By ~ 3

Author(s):

ROBERT O. AMBROSE ◽

CATHERINE G. AMBROSE

Keyword(s):

Primate Evolution ◽

Humanoid Robots ◽

Mobile Manipulation ◽

Dexterous Manipulation ◽

Workspace Analysis ◽

Branching Points ◽

Manipulation Robots ◽

And Behaviors ◽

Primate Anatomy

The primate order of animals is investigated for clues in the design of humanoid robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re-emergence of the human waist, seen in early prosimians and monkeys for arboreal balance, but lost in the terrestrial pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of gorillas and other hominoidea.

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