A Biomimetic Planning Control Method to anthropomorphize a 7-DOF Redundant Manipulator in Unstructured Environments

摘要

An increasingly important trend is to simulate a human arm using a 7-degrees-of-freedom (DOF) redundant manipulator and accomplish complex tasks in an unstructured environment by leveraging human experience. Human arm motion information acquired by a biomimetic motion capture system is mapped to planning information of the manipulator to leverage human experience in the control process and quickly improve the operational capability of the manipulator in complex environments. In this paper, extensive tests are performed for verification, and the test results prove the effectiveness of the proposed algorithm, which improve the operational performance of a redundant manipulator in a complex environment to accomplish humanoid tasks and is critical to robot-aided operations or the complete substitution of humans by robots in the future.