The handwriting problem [man-machine motion analogy in robotics].

Two approaches are proposed to model and control a human-like motion of robot arms. The first, which is based on the concept of distributed positioning (DP), is suggested as a good model of arm motion in the phase where fatigue does not appear. The prescribed motion of the end-effector is distribute...

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Bibliographic Details
Published in:	IEEE Robotics and automation magazine 10, 1 (2003).
Main Author:	Potkonjak, V.
Format:	Article
Language:	English
Subjects:	Acceleration capabilities. Biological fatigue. Disabled persons. Distributed positioning. End-effector motion. Handwriting problem. Human handwriting task. Human-like motion. Kinematic redundancy. Legibility. Letter inclination. Man-machine motion analogy. Robot arms. Robot dynamics. Robotics approaches. Secondary cost functions. Virtual fatigue concept.