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The control of kinematically constrained shoulder complexes: physiological and humanoid examples

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3 Author(s)
V. De Sapio ; Artificial Intelligence Lab., Stanford Univ., CA ; K. Holzbaur ; O. Khatib

This paper applies a task-level approach to the control of holonomically constrained shoulder models. These models include a biomechanical representation based on human physiology and a robotic design based on a parallel-serial structure. Both models involve complex kinematically coupled motion between the shoulder girdle and the humerus. This coupled motion has a significant impact on the resulting humeral pointing dynamics associated with arm movement. The constrained task-level control approach implemented here characterizes and exploits the kinematically coupled nature of these systems by casting the constrained dynamics into a task-level control framework. Examples are presented which illustrate the effectiveness of this approach

Published in:

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

Date of Conference:

15-19 May 2006