NDLI: A Natural Resolution of Bernstein’s Degrees-of-Freedom Problem in Case of Multi-Joint Reaching

Content Provider	IEEE Xplore Digital Library
Author	Arimoto, S.
Copyright Year	2004
Description	Author affiliation: Dept. of Robotics, Ritsumeikan Univ., Shiga (Arimoto, S.)
Abstract	This paper aims at challenging Bernstein's problem called the "degrees of freedom problem", which is known to remain unsolved from both the physiological and the robotics viewpoints. More than a half century ago A.N. Bernstein observed and claimed that "dexterity" resident in human limb motion emerges from involvement of multijoint movements with surplus DOF. It is also said in robotics that redundancy of DOFs in robot mechanisms may contribute to enhancement of dexterity and versatility. However, kinematic redundancy incurs a problem of illposedness of inverse kinematics from task description space to joint space. In the history of robotics research such illposedness problem of inverse kinematics has not yet been attacked directly but circumvented by introducing an artificial performance index and determining uniquely an inverse kinematics solution by minimizing it. Instead of it, this paper introduces two novel concepts named "stability on a manifold" and "transferability to a submanifold" in treating the case of human multijoint movements of reaching and shows that a sensory feedback from task space to joint space together with a set of adequate dampings (joint velocity feedbacks) enables any solution to the overall closed loop dynamics to converge naturally and coordinately to a lower dimensional manifold describing a set of joint states fulfilling a given motion task. This means that, without considering any type of inverse kinematics, the reaching task can be accomplished by a sensory feedback with adequate choices of a stiffness parameter and damping coefficients. It is also shown that these novel concepts can cope with annoying characteristics called "variability" of redundant joint motions seen typically in human skilled reaching
Sponsorship	IEEE Robotics and Autom. Soc. IEEE HK RA/CS Joint Chapter Chinese Acad. of Sci. Chinese High-tech Dev. Program Robotics Soc. of Japan Japan Soc. of Mech. Eng. Int. Rescue Syst. Inst
Starting Page	88
Ending Page	95
File Size	674222
Page Count	8
File Format	PDF
ISBN	0780386148
DOI	10.1109/ROBIO.2004.1521757
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer aided software engineering Robot kinematics Humans Orbital robotics Performance analysis History State feedback Damping Trajectory Jacobian matrices
Content Type	Text
Resource Type	Article

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