A biomimetic approach to inverse kinematics for a redundant robot arm

Artemiadis, PK; Katsiaris, PT; Kyriakopoulos, KJ

dc.contributor.author	Artemiadis, PK	en
dc.contributor.author	Katsiaris, PT	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:32:25Z
dc.date.available	2014-03-01T01:32:25Z
dc.date.issued	2010	en
dc.identifier.issn	0929-5593	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/20124
dc.subject	Inverse kinematics	en
dc.subject	Biomimetics	en
dc.subject	Redundant robots	en
dc.subject	Graphical models	en
dc.subject	Anthropomorphic motion	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	MOVEMENT	en
dc.subject.other	MODEL	en
dc.subject.other	IMITATION	en
dc.subject.other	TASKS	en
dc.title	A biomimetic approach to inverse kinematics for a redundant robot arm	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s10514-010-9196-x	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s10514-010-9196-x	en
heal.language	English	en
heal.publicationDate	2010	en
heal.abstract	Redundant robots have received increased attention during the last decades, since they provide solutions to problems investigated for years in the robotic community, e.g. task-space tracking, obstacle avoidance etc. However, robot redundancy may arise problems of kinematic control, since robot joint motion is not uniquely determined. In this paper, a biomimetic approach is proposed for solving the problem of redundancy resolution. First, the kinematics of the human upper limb while performing random arm motion are investigated and modeled. The dependencies among the human joint angles are described using a Bayesian network. Then, an objective function, built using this model, is used in a closed-loop inverse kinematic algorithm for a redundant robot arm. Using this algorithm, the robot arm end-effector can be positioned in the three dimensional (3D) space using human-like joint configurations. Through real experiments using an anthropomorphic robot arm, it is proved that the proposed algorithm is computationally fast, while it results to human-like configurations compared to previously proposed inverse kinematics algorithms. The latter makes the proposed algorithm a strong candidate for applications where anthropomorphism is required, e.g. in humanoids or generally in cases where robotic arms interact with humans.	en
heal.publisher	SPRINGER	en
heal.journalName	AUTONOMOUS ROBOTS	en
dc.identifier.doi	10.1007/s10514-010-9196-x	en
dc.identifier.isi	ISI:000282783600003	en
dc.identifier.volume	29	en
dc.identifier.issue	3-4	en
dc.identifier.spage	293	en
dc.identifier.epage	308	en