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

Onderzoeksoutput: Bijdrage aan tijdschrift › Tijdschriftartikel › Academic › peer review

6 Citaten (Scopus)

1 Downloads (Pure)

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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.

Originele taal-2	Engels
Pagina's (van-tot)	582-595
Tijdschrift	IEEE Transactions on Systems, Man and Cybernetics. Part A, Systems and Humans
Volume	32
Nummer van het tijdschrift	5
DOI's	https://doi.org/10.1109/TSMCA.2002.804792
Status	Gepubliceerd - 2002

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10.1109/TSMCA.2002.804792

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Motion in Human and Machine: A Virtual Fatigue Approach

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