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Title of Journal: Cogn Process

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Abbravation: Cognitive Processing

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Springer Berlin Heidelberg

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DOI

10.1007/bf01417609

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1612-4790

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Dual filtering in operational and joint spaces for

Authors: Léo Lopez JeanCharles Quinton Youcef Mezouar
Publish Date: 2015/08/01
Volume: 16, Issue: 1, Pages: 293-297
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Abstract

To study human movement generation as well as to develop efficient control algorithms for humanoid or dexterous manipulation robots overcoming the limits and drawbacks of inversekinematicsbased methods is needed Adequate methods must deal with high dimensionality uncertainty and must perform in real time constraints shared by robots and humans This paper introduces a Bayesian filtering method hierarchically applied in the operational and joint spaces to break down the complexity of the problem The method is validated in simulation on a robotic arm in a cluttered environment with up to 51 degrees of freedom

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