ICRA 2011 Paper Abstract

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Paper WeA107.1

Zanchettin, Andrea Maria (Politecnico di Milano), Rocco, Paolo (Politecnico di Milano), Bascetta, Luca (Politecnico di Milano), Symeonidis, Ioannis (Ludwig-Maximilians University Munich), Peldschus, Steffen (Ludwig-Maximilians University Munich)

Kinematic analysis and synthesis of the human arm motion during a manipulation task

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots IV" (WeA107), Wednesday, May 11, 2011, 08:20−08:35, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Biomimetics, Redundant Robots

Abstract

Research in the field of human kinematic analysis has gained interest in recent years and has fostered new ideas and expectations. Next generation manipulators are expected to resemble a human-like behaviour at kinematic level, in order to avoid any unease or discomfort (like fear or shock) to the nearby humans. In this work, a kinematic experimental approach to study and synthesize the motion of the human arm is presented. In particular, the proposed scenario will be used to study how humans exploit the kinematic redundancy of their arms, for a future use in a robotic controller. A simple, yet accurate, method for human-like redundancy resolution in robotic manipulators is developed and verified.

 

 

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