Human-like upper limb motion Generation
Model predictive control (MPC) is used to minimize total effort and ensure smoothness for simultaneous reaching and orientation tasks mimicking human-like upper limb motion. Performed hyper parameter optimization to obtain optimal weights for generating motion for a 7-DOF 3-link human arm model.
Model predictive control (MPC) is used to minimize total effort and ensure smoothness for simultaneous reaching and orientation tasks mimicking human-like upper limb motion. Performed hyper parameter optimization to obtain optimal weights for generating motion for a 7-DOF 3-link human arm model.