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Task-dependent synergies for motion planning of an anthropomorphic dual-arm system

Autor
Garcia, N.; Suarez, R.; Rosell, J.
Tipus d'activitat
Article en revista
Revista
IEEE transactions on robotics
Data de publicació
2017-06-01
Volum
33
Número
3
Pàgina inicial
756
Pàgina final
764
DOI
https://doi.org/10.1109/TRO.2017.2676131 Obrir en finestra nova
Projecte finançador
Prensión y manipulación diestra, móvil y cooperativa
Robots autónomos diestros como co-trabajadores con operadores humanos
Robots manipuladores móviles como co-operarios: autonomía e interacción en la colaboración humano-robot
Repositori
http://hdl.handle.net/2117/105692 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/document/7889043/ Obrir en finestra nova
Resum
The paper deals with the problem of motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity of the movements needed to solve two given tasks. Planning using this measure to select proper arm synergies for a given task improves the planning performance and the resulting plan. © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing thi...
Citació
Garcia, N., Suarez, R., Rosell, J. Task-dependent synergies for motion planning of an anthropomorphic dual-arm system. "IEEE transactions on robotics", 1 Juny 2017, vol. 33, núm. 3, p. 756-764.
Paraules clau
Dimensionality Reduction, Humanoid Robots, Path Planning for Manipulators, Synergies
Grup de recerca
SIR - Service and Industrial Robotics

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