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Motion in human and machine: A virtual fatigue approach   
摘  要:   Achieving human-like behavior of a robot is a key issue of the paper. Redundancy in the inverse kinematics problem is resolved using a biological analogue. It is shown that by means of "virtual fatigue" functions, it is possible to generate robot movements similar to movements of a human arm subject to muscle fatigue. Analytic method enabling control of robot motions in a human-like fashion is described. An example of an anthropomorphic robot arm performing a screw-driving task illustrates the method.
发  表:   IEEE Transactions on Systems, Man, and Cybernetics  2002

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