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Using synergies in dual-arm manipulation tasks

Author
Suarez, R.; Rosell, J.; Garcia, N.
Type of activity
Presentation of work at congresses
Name of edition
2015 IEEE International Conference on Robotics and Automation
Date of publication
2015
Presentation's date
2015-05-29
Book of congress proceedings
2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015
First page
5655
Last page
5661
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/ICRA.2015.7139991 Open in new window
Repository
http://hdl.handle.net/2117/82103 Open in new window
Abstract
The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key idea of the proposal is the search of synergies of the dual-arm anthropomorphic system in order to use them to reduce the dimension of the search space while preserving human-like appearance. This idea was already developed and successfully used to plan movements of robotic hands...
Citation
Suarez, R., Rosell, J., García, N. Using synergies in dual-arm manipulation tasks. A: IEEE International Conference on Robotics and Automation. "2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015". Seattle, WA: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 5655-5661.
Keywords
Assembly, Joints, Kinematics, Planning, Principal component analysis, Robot kinematics, dual-arm anthropomorphic systems, dual-arm manipulation tasks, human-like appearance, manipulators, path planning, robotic hands, synergies
Group of research
SIR - Service and Industrial Robotics

Participants