Article Dans Une Revue Journal of computational science Année : 2013

Generating Human-like Reaching Movements with a Humanoid Robot : A Computational Approach $

Résumé

This paper presents a computational approach for transferring principles of human motor control to humanoid robots. A neurobiological model, stating that the energy of motoneurons is minimized and that dynamic and static efforts are processed separately, is considered. This paradigm is used to produce humanoid robots reaching movements obeying the rules of human kinematics. A nonlinear programming problem is solved to determine optimal trajectories. The optimal movements are then encoded by using a basis of motor primitives determined by principal component analysis. Finally, generalization to new movements is obtained by solving of a low-dimensional optimization problem in the operational space.

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hal-01537858 , version 1 (13-06-2017)

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Michel Taïx, Minh Tuan Tran, Philippe Souères, Emmanuel Guigon. Generating Human-like Reaching Movements with a Humanoid Robot : A Computational Approach $. Journal of computational science, 2013, 4 (4), pp.269-284. ⟨10.1016/j.jocs.2012.08.001⟩. ⟨hal-01537858⟩
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