Bae, J.-H. Yang, W. Kim, D. Oh, Y. You, B.-J. Oh, S.-R. 2024-01-12T06:57:46Z 2024-01-12T06:57:46Z 2022-03-07 2011-05 1050-4729 https://pubs.kist.re.kr/handle/201004/80480 In recent, control approaches for the human-like behavior in the field of service robotics have been attracting considerable attention, since most humans or animals perform various tasks uncomplicatedly. Hence simple control methods based on gaining a physical insight into human reaching movement in redundancy of DOFs have been proposed. In comparison with the conventional approaches, the proposed method tries to control directly robotic systems in task-space with the control signal composed of linear superposition of three terms 1) joint-damping, 2) virtual spring, and 3) virtual damper in task-space. In particular, our work contains a muscle tension effect of a human under the gravity. This give birth to energy efficient natural motions avoiding problems on repeatability of the motion and ill-posedness problems emerged in most of redundant DOF systems. Thus, this paper exhibits expendability of the position control into the orientation control and compliant behavior. It is verified with a real robotic arm that satisfies human-like movements and motion repeatability under kinematic redundancy of joints. ？ 2011 IEEE. English IEEE Robotic arm control inspired by human muscle tension effect under the gravity Conference 10.1109/ICRA.2011.5980304 1 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, pp.1404 - 1411 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 1404 1411 US Shanghai 2011-05-09 Proceedings - IEEE International Conference on Robotics and Automation 2-s2.0-84867858646