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Motion in human and machine: A virtual fatigue approach

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4 Author(s)
Potkonjak, V. ; Fac. of Electr. Eng., Univ. of Belgrade, Yugoslavia ; Kostic, D. ; Rasic, M. ; Dordaevic, G.S.

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.

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Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:32 ,  Issue: 5 )