NDLI: A biomimetic approach to inverse kinematics for a redundant robot arm

Content Provider	Springer Nature Link
Author	Artemiadis, Panagiotis K. Katsiaris, Pantelis T. Kyriakopoulos, Kostas J.
Copyright Year	2010
Abstract	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.
Starting Page	293
Ending Page	308
Page Count	16
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	29
Issue Number	3-4
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2010-06-23
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Inverse kinematics Biomimetics Redundant robots Graphical models Anthropomorphic motion Computer Imaging, Vision, Pattern Recognition and Graphics Artificial Intelligence (incl. Robotics) Control , Robotics, Mechatronics Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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