Modeling Human Motor Skills: Enhancing Motion Planning

This lecture explores the modeling of human motor skills to improve human-like motion planning in robotics. It covers recent advancements in robotic design, the use of functional Principal Component Analysis, and the development of a novel solution to overcome limitations in anthropomorphic manipulators. The lecture also discusses the planning process via functional Principal Components, problem formalization for human-like movements, and the implementation of trajectories in joint space. Additionally, it delves into obstacle avoidance, Cartesian impedance control, and the control law for end effectors. The lecture concludes with a focus on achieving accurate motion tracking and error minimization in various motion scenarios.