An extended passive motion paradigm for human-like posture and movement planning in redundant manipulators

• Main Authors: Tommasino, Paolo, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2018
• Subjects: Kinematic Redundancy; Postural Synergies
• Online Access: https://hdl.handle.net/10356/85170; http://hdl.handle.net/10220/45138
• Institution: Nanyang Technological University

A major challenge in robotics and computational neuroscience is relative to the posture/movement problem in presence of kinematic redundancy. We recently addressed this issue using a principled approach which, in conjunction with nonlinear inverse optimization, allowed capturing postural strategies...