Postural primitives: Interactive Behavior for a Humanoid Robot Arm

This paper describes the implementation of reex action for the arm of the humanoid robot Cog [5]. A set of biologically inspired postural primitives are used to create the arm motion. The primitives are combined in di erent ways to achieve reaching with grasping and withdrawal reexes, allowing the arm to interact safely with both objects and people. This paper describes the re exes, the biological inspiration for the control, and includes data collected from the robot.

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