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

Author
Garcia, N.; Suarez, R.; Rosell, J.
Type of activity
Journal article
Journal
IEEE transactions on robotics
Date of publication
2017-06-01
Volume
33
Number
3
First page
756
Last page
764
DOI
https://doi.org/10.1109/TRO.2017.2676131 Open in new window
Project funding
Autonomous dexterous robots as coworkers with human operators
Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration
Prensión y manipulación diestra, móvil y cooperativa
Repository
http://hdl.handle.net/2117/105692 Open in new window
URL
http://ieeexplore.ieee.org/document/7889043/ Open in new window
Abstract
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...
Citation
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.
Keywords
Dimensionality Reduction, Humanoid Robots, Path Planning for Manipulators, Synergies
Group of research
SIR - Service and Industrial Robotics

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