Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Interactive control of avatars animated with human motion data
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Probabilistic Reasoning in Multi-Agent Systems: A Graphical Models Approach
Probabilistic Reasoning in Multi-Agent Systems: A Graphical Models Approach
Automated Derivation of Primitives for Movement Classification
Autonomous Robots
Pattern Recognition and Machine Learning (Information Science and Statistics)
Pattern Recognition and Machine Learning (Information Science and Statistics)
International Journal of Robotics Research
A bio-inspired filtering framework for the EMG-based control of robots
MED '09 Proceedings of the 2009 17th Mediterranean Conference on Control and Automation
Learning and generalization of motor skills by learning from demonstration
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Redundancy problem in writing: from human to anthropomorphic robotarm
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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Redundant robots have received increased attention during the last decades, since they provide solutions to problems investigated for years in the robotic community, e.g. task-space tracking, obstacle avoidance etc. However, robot redundancy may arise problems of kinematic control, since robot joint motion is not uniquely determined. In this paper, a biomimetic approach is proposed for solving the problem of redundancy resolution. First, the kinematics of the human upper limb while performing random arm motion are investigated and modeled. The dependencies among the human joint angles are described using a Bayesian network. Then, an objective function, built using this model, is used in a closed-loop inverse kinematic algorithm for a redundant robot arm. Using this algorithm, the robot arm end-effector can be positioned in the three dimensional (3D) space using human-like joint configurations. Through real experiments using an anthropomorphic robot arm, it is proved that the proposed algorithm is computationally fast, while it results to human-like configurations compared to previously proposed inverse kinematics algorithms. The latter makes the proposed algorithm a strong candidate for applications where anthropomorphism is required, e.g. in humanoids or generally in cases where robotic arms interact with humans.