Should robots copy humans

摘要

The paper studies possible advantages of humanoid robot manipulators by comparing some kinematic properties of the human arm with standard approaches in robot design. The human arm possesses an extremely effective kinematic structure of the mechanism if we take into account the mechanism's kinematic redundancy, the workspace properties, and the velocity-torque capabilities. Human arm utilises kinematic singularities to compensate weak actuation, while in robotic practice kinematic singularities are still avoided. An important issue is also the dual-arm cooperation, as well as the teaching by learning or the visual teaching by showing accompanied by vocal instructions.