NDLI: Human-like movements of robotic arms with redundant DOFs: virtual spring-damper hypothesis to tackle the Bernstein problem

Content Provider	IEEE Xplore Digital Library
Author	Arimoto, S. Sekimoto, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Robotics, Ritsumeikan Univ., Kyoto (Arimoto, S.; Sekimoto, M.)
Abstract	A natural control method for resolving the ill-posedness of inverse kinematics of multi-joint reaching movements under redundancy of degrees-of-freedom (DOF) is proposed, which need neither introduce any artificial performance index to determine the inverse kinematics uniquely nor calculate the pseudo-inverse of the Jacobian of task coordinates with respect to joint coordinates. The control signal is composed of a linear superposition of three terms 1) damping shaping, 2) task-space position-error feedback with a single stiffness parameter, and 3) gravity compensation by means of estimation of uncertainty in the potential energy. It is shown through computer simulation and theoretical analysis that the signal can generate smooth reaching motions provided that a set of damping factors and the stiffness parameter are selected in a synergistic way. A physical meaning of each term of the control signal is discussed from the viewpoints of Newtonian mechanics and neuro-physiology. It can be concluded from those illustrative examples that mechanical robots with redundant DOFs can be endowed by synergistic adjustments of damping factors and a stiffness parameter with ability of generating human-like skilled motions
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	1860
Ending Page	1866
File Size	699653
Page Count	7
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1641977
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Arm Damping Robot kinematics Signal resolution Performance analysis Jacobian matrices Linear feedback control systems Shape control Three-term control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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