TY - JOUR U1 - Zeitschriftenartikel, wissenschaftlich - begutachtet (reviewed) A1 - Iossifidis, Ioannis A1 - Schoener, Gregor T1 - Dynamical Systems Approach for the Autonomous Avoidance of Obstacles and Joint-limits for an Redundant Robot Arm JF - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems N2 - We extend the attractor dynamics approach to generate goal-directed movement of a redundant, anthropomorphic arm while avoiding dynamic obstacles and respecting joint limits. To make the robot's movements human-like, we generate approximately straight-line trajectories by using two heading direction angles of the tool-point quite analogously to how movement is represented in the primate central nervous system. Two additional angles control the tool's spatial orientation so that it follows the tool-point's collision-free path. A fifth equation governs the redundancy angle, which controls the elevation of the elbow so as to avoid obstacles and respect joint limits. These variables make it possible to generate movement while sitting in an attractor (or, in the language of the potential field approach, in a minimum). We demonstrate the approach on an assistant robot, which interacts with human users in a shared workspace Y1 - 2006 UR - https://ieeexplore.ieee.org/abstract/document/4058405 SN - 2153-0858 SS - 2153-0858 U6 - https://doi.org/10.1109/IROS.2006.282468 DO - https://doi.org/10.1109/IROS.2006.282468 VL - 2006 IS - 9-15 Oct. ER -