A redundancy resolution method for an anthropomorphic dual-arm manipulator based on a musculoskeletal criterion
Cecilia Lamperti, Andrea Maria Zanchettin, Paolo Rocco
Abstract
In order to make humans feeling comfortable when working with robots, it is necessary for robots to be as much as possible “human-like” in both their appearance and movements. In redundant manipulators, it is possible to use the additional degrees of freedom in order to make the robot motion more human-like, thus increasing the quality of the human-robot interaction. In this work, a redundancy resolution method to address this issue is presented. Such a method considers the human musculoskeletal system and a biomechanical model of the human upper limbs in order to define a strategy to solve the redundancy for a dual-arm anthropomorphic manipulator as a human would do, then making the robot able to both perform the prescribed task and to assume human-like postures.
BibTeX
@inproceedings{iros2015_aredundancyresol,
title = {A redundancy resolution method for an anthropomorphic dual-arm manipulator based on a musculoskeletal criterion},
author = {Cecilia Lamperti and Andrea Maria Zanchettin and Paolo Rocco},
booktitle = {IROS 2015},
year = {2015}
}