Motion in Human and Machine: A Virtual Fatigue Approach

V. Potkonjak; D. Kostic; M. Rasic; G. Djordjevic

doi:10.1109/TSMCA.2002.804792

Motion in Human and Machine: A Virtual Fatigue Approach

V. Potkonjak, D. Kostic, M. Rasic, G. Djordjevic

Control Systems Technology

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

Achieving human-like behavior of a robot is a key issue of the paper. Redundancy in the inverse kinematics problem is resolved using a biological analogue. It is shown that by means of "virtual fatigue" functions, it is possible to generate robot movements similar to movements of a human arm subject to muscle fatigue. Analytic method enabling control of robot motions in a human-like fashion is described. An example of an anthropomorphic robot arm performing a screw-driving task illustrates the method.

Original language	English
Pages (from-to)	582-595
Journal	IEEE Transactions on Systems, Man and Cybernetics. Part A, Systems and Humans
Volume	32
Issue number	5
DOIs	https://doi.org/10.1109/TSMCA.2002.804792
Publication status	Published - 2002

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AB - Achieving human-like behavior of a robot is a key issue of the paper. Redundancy in the inverse kinematics problem is resolved using a biological analogue. It is shown that by means of "virtual fatigue" functions, it is possible to generate robot movements similar to movements of a human arm subject to muscle fatigue. Analytic method enabling control of robot motions in a human-like fashion is described. An example of an anthropomorphic robot arm performing a screw-driving task illustrates the method.

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Motion in Human and Machine: A Virtual Fatigue Approach

Abstract

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