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Inverse kinematic problem: Solutions by pseudoinversion, inversion and no-inversion

Published online by Cambridge University Press:  04 February 2010

Simon R. Goodman
Simon R. Goodman
Affiliation:
Department of Physiology, Rush-Presbyterian-St. Luke's Medical Center, Chicago. IL 60612. srg@neuro1.neuro.rpsimc.edu
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Abstract

Kinematic properties of reaching movements reflect constraints imposed on the joint angles. Contemporary models present solutions to the redundancy problem by a pseudoinverse procedure (Whitney 1969) or without any inversion (Berkenblit et al. 1986). Feldman & Levin suggest a procedure based on a regular inversion. These procedures are considered as an outcome of a more general approach.

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Open Peer Commentary
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Behavioral and Brain Sciences , Volume 18 , Issue 4 , December 1995 , pp. 756 - 758
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Copyright © Cambridge University Press 1995

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