2006
I Iossifidis; G Schöner
Reaching with a redundant anthropomorphic robot arm using attractor dynamics Book Section
In: VDI Berichte, no. 1956, 2006, ISSN: 00835560.
Abstract | BibTeX | Tags: dynamical systems, Kinematics, Motion planning, Redundant manipulator
@incollection{Iossifidis2006d,
title = {Reaching with a redundant anthropomorphic robot arm using attractor dynamics},
author = {I Iossifidis and G Schöner},
issn = {00835560},
year = {2006},
date = {2006-01-01},
booktitle = {VDI Berichte},
number = {1956},
abstract = {The attractor dynamics approach has been extended to generate goal directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. A straight-line trajectory has been generated to make the robot's movement human like, using two heading direction angles of the tool-point which is quite analogous to the movement represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. The attractor dynamics approach to trajectory formation is generalized to the control of the motion of a redundant robot arm by applying a task decomposition, comprising endeffector, wrist and elbow motion. This new approach, implemented on the autonomous robotic assistant Cora, enables collision free movement in a considerably wide set of obstacles and target geometries.},
keywords = {dynamical systems, Kinematics, Motion planning, Redundant manipulator},
pubstate = {published},
tppubtype = {incollection}
}
The attractor dynamics approach has been extended to generate goal directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. A straight-line trajectory has been generated to make the robot's movement human like, using two heading direction angles of the tool-point which is quite analogous to the movement represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. The attractor dynamics approach to trajectory formation is generalized to the control of the motion of a redundant robot arm by applying a task decomposition, comprising endeffector, wrist and elbow motion. This new approach, implemented on the autonomous robotic assistant Cora, enables collision free movement in a considerably wide set of obstacles and target geometries.