Hersch, M.Billard, A.2007-11-072007-11-072007-11-07200610.1109/BIOROB.2006.1639233https://infoscience.epfl.ch/handle/20.500.14299/14447This 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.dynamical systems controlmulti-referential controlVITEjoint limit avoidanceDLS inversetext::conference output::conference proceedings::conference paper