Reaching with Multi-Referential Dynamical Systems

• Published in: Autonomous Robots, vol. 25, num. 1-2, p. 71-83
• Publication date: 2008

We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control. The resulting controller is based on two concurrent dynamical systems acting on different, yet redundant variables. The first dynamical system acts on the end-effector location variables and the second one acts on the joint angle variables. Coherence constraints are enforced between those two redundant representations of the movement and can be used to modulate the relative influence of each dynamical system. We illustrate the advantages of such a redundant representation of the movement regarding singularities and joint angle avoidance.

Note: The orignal publication is available at springerlink.com

Keywords: Bio-inspired reaching - Dynamical system control - ; Multi-referential control - DLS inverse - Redundant ; manipulator control - Joint limit avoidance - Singularity ; avoidance

Reference

• LASA-ARTICLE-2007-009
• doi:NA
• View record in Web of Science

• URL: http://www.springerlink.com/content/0r187642hv615q82/?p=6ebf9fb257ff4b5e808bde87f52a0d41&pi=1

Record created on 2007-11-14, modified on 2012-03-21