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First-order synergies for motion planning of anthropomorphic dual-arm robots

Author
Garcia, N.; Suarez, R.; Rosell, J.
Type of activity
Journal article
Journal
IFAC-PapersOnLine
Date of publication
2017-07-01
Volume
50
Number
1
First page
2247
Last page
2254
DOI
https://doi.org/10.1016/j.ifacol.2017.08.187 Open in new window
Repository
http://hdl.handle.net/2117/110127 Open in new window
URL
http://www.sciencedirect.com/science/article/pii/S2405896317303348?via%3Dihub Open in new window
Abstract
This paper addresses the problem of designing a planning algorithm for anthropomorphic dual-arm robotic systems to find paths that mimics the movements of real human beings by using first-order synergies (correlations between joint velocities). The key idea of the proposal is to convert captured human movements into a vector field of velocities, defined in the configuration space of the robot, and use it to guide the search of a solution path. The motion planning is solved using the proposed alg...
Citation
Garcia, N., Suarez, R., Rosell, J. First-order synergies for motion planning of anthropomorphic dual-arm robots. "IFAC-PapersOnLine", 1 Juliol 2017, vol. 50, núm. 1, p. 2247-2254.
Keywords
Dual-Arm Robots, Human-Like Motions, Path Planning, Robotics, Synergies
Group of research
SIR - Service and Industrial Robotics

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