Controlling Redundant Robot Arm-Trunk Systems for Human-like Reaching Motion

Title
Controlling Redundant Robot Arm-Trunk Systems for Human-like Reaching Motion
Authors
Tapomayukh Bhattacharjee오용환배지훈오상록
Keywords
Redundant Robot; Arm-Trunk System; Reaching Motion
Issue Date
2010-10
Publisher
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
Citation
, 2000-2005
Abstract
In this paper, we have developed a novel control law to exhibit human-motion characteristics in redundant robot arm-trunk systems for reaching tasks. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping as well as the low-pass filter characteristics of human muscles have been modeled by the proposed control law. The newly developed control law uses a time-varying damping shaping matrix and a bijective joint muscle mapping function to describe the humanmotion characteristics for reaching motion like quasi-straight line trajectory of the end-effector and symmetric bell shaped velocity profile. The aspect of self-motion and repeatability, which are inherent in human-motion, are also analyzed and successfully modeled using the proposed method. Simulation results show the efficacy of the newly developed algorithm in describing the human-motion characteristics.
URI
http://pubs.kist.re.kr/handle/201004/39065
Appears in Collections:
KIST Publication > Conference Paper
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