Autonomous reaching and obstacle avoidance with the anthropomorphic arm of a robotic assistant using the attractor dynamics approach

• DOI: 10.1109/robot.2004.1302393
• Publication Date: 2004-06-10T10:19:45Z
• Authors: I. Iossifidis; G. Schoner
• Keywords: Work space; Robot end effector; Position (finance); Operator (biology)

To enable a robotic assistant to autonomously reach for and transport objects while avoiding obstacles we have generalized the attractor dynamics approach established vehicles trajectory formation in robot arms. This is able deal with time-varying environments that occur when human operator moves shared workspace. Stable fixed points (attractors) heading direction of end-effector shift during movement are being tracked by system. enables avoid spurious states hamper potential field methods. Separating planning control computationally, also simpler implement. The stability properties plan make it possible fluctuating imprecise sensory information. We implement this on seven degree freedom anthropomorphic arm reaching working surface. use an exact solution inverse kinematics, which us steer spatial position elbow clear obstacles. straight-line trajectories emerge as long far from goals predictable operator, improving man-machine interaction.