A challenge to Bernstein's Degrees-of-Freedom problem in both cases of human and robotic multi-joint movements

IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

Volumn E88-A, Issue 10, 2005, Pages 2484-2494

  Arimoto, Suguru ^a,b,c,d,e,f   Sekimoto, Masahiro ^a   Ozawa, Ryuta ^a,g  

^a RITSUMEIKAN UNIVERSITY   (Japan)

^b RIKEN   (Japan)

^c Department of Robotics ^*  (Japan)

^d IEEE   (Japan)

^e JSME   (Japan)

^f RSJ   (Japan)

^g RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Bernstein's problem; Ill posedness of inverse; Inverse kinematics; Multi joint reaching; Redundant robots

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); INVERSE KINEMATICS; JOINTS (STRUCTURAL COMPONENTS); MOBILE ROBOTS; REDUNDANCY; SENSORY FEEDBACK;

BERNSTEIN'S PROBLEM; CLOSED-LOOP DYNAMICS; MULTI-JOINT REACHING; REDUNDANT ROBOTS;

ROBOTICS;

EID: 27844444784     PISSN: 09168508     EISSN: 17451337     Source Type: Journal    
DOI: 10.1093/ietfec/e88-a.10.2484     Document Type: Conference Paper

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