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2006
1.
 Iossifidis, Ioannis;  Schöner, G
Reaching with a redundant anthropomorphic robot arm using attractor dynamics Buchabschnitt 
In: VDI Berichte, Nr. 1956, 2006, ISSN: 00835560.
Abstract | BibTeX | Schlagwörter: Dynamical systems, Kinematics, Motion planning, Redundant manipulator
@incollection{Iossifidis2006d,

title = {Reaching with a redundant anthropomorphic robot arm using attractor dynamics},

author = {Ioannis Iossifidis and G Schöner},

issn = {00835560},

year  = {2006},

date = {2006-01-01},

urldate = {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}

}

Schließen
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.
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