Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots

Energy-Optimal Trajectories for Overactuated Robots

We present a method for computing energy optimal trajectories for an overactuated wheeled robot under quasistatic conditions, enabling it to climb over discontinuous terrain. The trajectories can be arbitrarily close to optimal with respect to energy, depending on available computing resources. We apply our approach to control the Goes-Over-All-Terrain (GOAT) vehicle. The GOAT has four active w...

Biomechanical optimal control of human arm motion

As both ordinary and well-trained human motion is mostly planned and controlled unconsciously by the central nervous system (CNS), human control mechanisms remain relatively obscure. Despite, they are an interesting topic, for example, with regard to improve protheses or athletic motion. To learn and understand more about the control of human motion, we use rigid multibody systems to represent ...

Optimal Trajectories for Nonholonomic Mobile Robots

Directional manipulability for motion coordination of an assistive mobile arm

In this paper, we address the problem of coordinated motion control of a manipulator arm embarked on a mobile platform. The mobile manipulator is used in providing assistance for disabled people. In order to perform a given task by using mobile manipulator redundancy, we propose a new manipulability measure that incorporates both arm manipulation capacities and the end-effector imposed task. Th...

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...