IEEE Transactions on Systems, Man and Cybernetics
Motion planning and bimanual coordination in humanoid robots
Proceedings of the 2009 conference on Computational Intelligence and Bioengineering: Essays in Memory of Antonina Starita
Temporal stabilization of discrete movement in variable environments: an attractor dynamics approach
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Programming-by-Demonstration of reaching motions-A next-state-planner approach
Robotics and Autonomous Systems
Learning Non-linear Multivariate Dynamics of Motion in Robotic Manipulators
International Journal of Robotics Research
Teaching a humanoid robot to draw `Shapes'
Autonomous Robots
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We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two concurrent dynamical systems acting on different, yet redundant variables. The first dynamical system acts on the end-effector location variables and the second one acts on the joint angle variables. Coherence constraints are enforced between those two redundant representations of the movement and can be used to modulate the relative influence of each dynamical system. We illustrate the advantages of such a redundant representation of the movement regarding singularities and joint angle avoidance.