Reaching with multi-referential dynamical systems

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Reaching with multi-referential dynamical systems
We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multireferential control and dynamical system control. The resulting controller is based on two concurrent dynamical systems acting on different, yet redundant variables. The first dynamical system acts on the end-effector location variables and the second one acts on the joint angle variables. Coherence constraints are enforced between those two redundant representations of the movement and can be used to modulate the relative influence of each dynamical system. We illustrate the advantages of such a redundant representation of the movement regarding singularities and joint angle avoidance. Keywords Bio-inspired reaching
Micha Hersch, Aude Billard
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2008
Authors Micha Hersch, Aude Billard
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