A biomimetic approach to inverse kinematics for a redundant robot arm

Panagiotis K. Artemiadis, Pantelis T. Katsiaris, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticle

57 Scopus citations

Abstract

Redundant robots have received increased attention during the last decades, since they provide solutions to problems investigated for years in the robotic community, e.g. task-space tracking, obstacle avoidance etc. However, robot redundancy may arise problems of kinematic control, since robot joint motion is not uniquely determined. In this paper, a biomimetic approach is proposed for solving the problem of redundancy resolution. First, the kinematics of the human upper limb while performing random arm motion are investigated and modeled. The dependencies among the human joint angles are described using a Bayesian network. Then, an objective function, built using this model, is used in a closed-loop inverse kinematic algorithm for a redundant robot arm. Using this algorithm, the robot arm end-effector can be positioned in the three dimensional (3D) space using human-like joint configurations. Through real experiments using an anthropomorphic robot arm, it is proved that the proposed algorithm is computationally fast, while it results to human-like configurations compared to previously proposed inverse kinematics algorithms. The latter makes the proposed algorithm a strong candidate for applications where anthropomorphism is required, e.g. in humanoids or generally in cases where robotic arms interact with humans.

Original languageEnglish (US)
Pages (from-to)293-308
Number of pages16
JournalAutonomous Robots
Volume29
Issue number3-4
DOIs
StatePublished - Nov 1 2010

Keywords

  • Anthropomorphic motion
  • Biomimetics
  • Graphical models
  • Inverse kinematics
  • Redundant robots

ASJC Scopus subject areas

  • Artificial Intelligence

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  • Cite this

    Artemiadis, P. K., Katsiaris, P. T., & Kyriakopoulos, K. J. (2010). A biomimetic approach to inverse kinematics for a redundant robot arm. Autonomous Robots, 29(3-4), 293-308. https://doi.org/10.1007/s10514-010-9196-x