Reaching for redundant arms with human-like motion and compliance properties
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References
4,226 citations
"Reaching for redundant arms with hu..." refers background in this paper
...Studies of human unconstrained reaching movements from one point to another reveal the following invariant kinematic characteristics: straight line paths, bell shaped velocities and joint configuration repeatability in repetitive motions [1–4]....
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1,619 citations
"Reaching for redundant arms with hu..." refers background in this paper
...Studies of human unconstrained reaching movements from one point to another reveal the following invariant kinematic characteristics: straight line paths, bell shaped velocities and joint configuration repeatability in repetitive motions [1–4]....
[...]
1,475 citations
"Reaching for redundant arms with hu..." refers background or methods in this paper
...As shown in [24], prescribed performance of ei(t) in the sense of (5) or (6) for all t ≥ 0 is achieved by ensuring the boundedness of the transformed output error vector:...
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...It is based on the prescribed performance control methodology (PPC) introduced in [24]....
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1,035 citations
"Reaching for redundant arms with hu..." refers background in this paper
...Let us define reaching as a regulation task for the task error e ∈ < given by the difference between the current task value in terms of the robot configuration q ∈ < and its desired constant value: e = D(q)− pd (2) As reaching targets may involve both position and orientation variables, for the orientation errors the outer product formulation, the Euler angle representation or quaternions may be used [33]....
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933 citations
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