Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem
- 23 April 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1407-1412
- https://doi.org/10.1109/iros.2003.1248841
Abstract
Humanoid robotics is a new challenging field. To cooperate with human beings, humanoid robots not only have to feature human-like form and structure but, more importantly, they must possess human-like characteristics regarding motion, communication and intelligence. In this paper, we propose an algorithm for solving the inverse kinematics problem associated with the redundant robot arm of the humanoid robot ARMAR. The formulation of the problem is based on the decomposition of the workspace of the arm and on the analytical description of the redundancy of the arm. The solution obtained is characterized by its accuracy and low cost of computation. The algorithm is enhanced in order to generate human-like manipulation motions from object trajectories.Keywords
This publication has 9 references indexed in Scilit:
- Real-time failure-tolerant control of kinematically redundant manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Redundancy problem in writing: from human to anthropomorphic robot armIEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 1998
- On the cost functions for the control of the human arm movementBiological Cybernetics, 1990
- Sensorimotor representations for pointing to targets in three-dimensional spaceJournal of Neurophysiology, 1989
- Errors in pointing are due to approximations in sensorimotor transformationsJournal of Neurophysiology, 1989
- Redundancy resolution of manipulators through torque optimizationIEEE Journal on Robotics and Automation, 1987
- Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator ControlJournal of Dynamic Systems, Measurement, and Control, 1986
- Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying EnvironmentsThe International Journal of Robotics Research, 1985
- Anthropomorphic roboticsBiological Cybernetics, 1980