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Human Motion

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Biologically Inspired Control of Humanoid Robot Arms

Abstract

In the previous chapter, it was highlighted that human-like motion will be beneficial for the integration humanoid robots into real-world scenarios. This chapter focuses on human motion, in particular, reaching motion, which is the general goal of the control approaches pursued in this book. Such motion is largely consistent across the healthy population, in a large part, due to the structural constraints of human physiology. In this chapter, we review literature related to the understanding of human motion and the handling of redundancies, which are of particular interest in robotic arm control. A variety of approaches to understanding such motion will be considered in addition to methods of recording human motion and scaling that motion to artificial agents, which typically lack the full complexity of the human body.

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Authors and Affiliations

  1. School of Engineering, Yale University, New Haven, Connecticut, USA

    Adam Spiers

  2. Department of Mechanical Engineering College of Engineering Yanbu, Taibah University Al-Madinah, Yanbu, Saudi Arabia

    Said Ghani Khan

  3. Department of Mechanical Engineering, University of Bristol, Bristol, UK

    Guido Herrmann

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  1. Adam Spiers
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  2. Said Ghani Khan
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  3. Guido Herrmann
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Spiers, A., Khan, S.G., Herrmann, G. (2016). Human Motion. In: Biologically Inspired Control of Humanoid Robot Arms. Springer, Cham. https://doi.org/10.1007/978-3-319-30160-0_3

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