Humanoid arm kinematic modeling and trajectory generation

Seeking joint trajectories of the human arm is a wide research problem. Due to the complexity of the human arm, some general simplifications have to be imposed when modeling joints and arm segments. With the simplification of the shoulder complex into a serial mechanism, the arm can be modeled as a redundant serial mechanism with 10 degrees of freedom and its inverse kinematics can be calculated using a generalized inverse. Proportional weighting and a secondary task allow us to generate arm movement that resembles human arm movement