Bhattacharjee, Tapomayukh Oh, Yonghwan Bae, Ji-Hun Oh, Sang-Rok 2024-01-19T12:38:34Z 2024-01-19T12:38:34Z 2022-03-07 2010-10 2153-0858 https://pubs.kist.re.kr/handle/201004/115737 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 human-motion 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. English IEEE Controlling Redundant Robot Arm-Trunk Systems for Human-like Reaching Motion Conference 10.1109/IROS.2010.5652793 1 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2000 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems 2000 2005 US Taipei, TAIWAN 2010-10-18 IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 000287672002149 2-s2.0-78651511323 Proceedings Paper