Trajectory control of biomimetic robots for demonstrating human arm movements

摘要

This study describes the trajectory control of biomimetic robots by developing human arm trajectory planning. First, the minimum jerk trajectory of the joint angles is produced analytically, and the trajectory of the elbow joint angle is modified by a time-adjustment of the joint motion of the elbow relative to the shoulder. Next, experiments were conducted in which gyro sensors were utilized, and the trajectories observed were compared with those which had been produced. The results showed that the proposed trajectory control is an advantageous scheme for demonstrating human arm movements.