A Biologically-Inspired Model of Reaching Movements

This paper presents a robotic arm controller for reaching motions. This controller applies two principles inspired by current theories of human reaching motions, namely the multi-referential control of movements and the dynamical system approach to biological control. The controller consists of a stable dynamical system active in a hybrid cartesian-joint angle frame of reference. Our results show that this controller has interesting properties in terms of stability and robustness to perturbations, and that its redundancy can be exploited for a simple solution to the joint limit avoidance problem.


Published in:
In Proceedings of the 2006 IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, Pisa
Presented at:
BIOROB 2006, Pisa, 2006-02-20
Year:
2006
Keywords:
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 Record created 2007-11-07, last modified 2018-03-17

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