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Journal Articles Cognitive Processing Year : 2015

Dual filtering in operational and joint spaces for reaching and grasping

Léo Pio-Lopez
  • Function : Author
Jean-Charles Quinton
Youcef Mezouar

Abstract

To study human movement generation, as well as to develop efficient control algorithms for humanoid or dexterous manipulation robots, overcoming the limits and drawbacks of inverse kinematics based methods is needed. Adequate methods must deal with high dimensionality, uncertainty , and must perform in real-time (constraints shared by robots and humans). This paper introduces a Bayesian filtering method, hierarchically applied in the operational and joint spaces to break down the complexity of the problem. The method is validated in simulation on a robotic arm in a cluttered environment, with up to 51 degrees of freedom.
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Dates and versions

hal-01966562 , version 1 (28-12-2018)

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Léo Pio-Lopez, Jean-Charles Quinton, Youcef Mezouar. Dual filtering in operational and joint spaces for reaching and grasping. Cognitive Processing, 2015, 16 (S1), pp.293-297. ⟨10.1007/s10339-015-0710-0⟩. ⟨hal-01966562⟩
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