On Advances in Robot Kinematics pp 145-154 | Cite as
Human-Like Motion from Physiologically-Based Potential Energies
Conference paper
Abstract
Generating coordinated natural motion in human-like robotic structures has proved to be a challenging task. Given that humans easily solve this problem, we propose a methodology to devise the underlying strategies of human movement and apply them for robotic control. We use this approach to examine how humans utilize their muscles while performing positioning tasks. This analysis suggests an effort potential that is shown to characterize human postural motion. By applying this methodology to other criteria, we seek to establish a basis of human motion characteristics.
Keywords
human motion behaviors task-level control muscle kinematics and dynamics task/posture decompositionPreview
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