{"paper":{"title":"Validation of a Control Algorithm for Human-like Reaching Motion using 7-DOF Arm and 19-DOF Hand-Arm Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Sang-Rok Oh, Tapomayukh Bhattacharjee, Yonghwan Oh","submitted_at":"2013-11-05T03:41:24Z","abstract_excerpt":"This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion characteristics in redundant robot arm systems as well as arm-trunk systems for reaching tasks [1], [2]. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping as well as t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1311.0959","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}