Loading...
Loading...

Go to the content (press return)

Motion planning by demonstration with human-likeness evaluation for dual-arm robots

Author
García, N.; Rosell, J.; Suarez, R.
Type of activity
Journal article
Journal
IEEE Transactions on Systems, Man, and Cybernetics. Systems
Date of publication
2017-10-30
Volume
PP
Number
99
First page
1
Last page
10
DOI
https://doi.org/10.1109/TSMC.2017.2756856 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/2117/112558 Open in new window
URL
http://ieeexplore.ieee.org/document/8089669/ Open in new window
Abstract
The paper presents a planning procedure that allows an anthropomorphic dual-arm robotic system to perform a manipulation task in a natural human-like way by using demonstrated human movements. The key idea of the proposal is to convert the demonstrated trajectories into attractive potential fields defined over the configuration space and then use an RRT*-based planning algorithm that minimizes a path-cost function designed to bias the tree growth towards the human-demonstrated configurations. Th...
Citation
García, N., Rosell, J., Suarez, R. Motion planning by demonstration with human-likeness evaluation for dual-arm robots. "IEEE Transactions on Systems, Man, and Cybernetics. Systems", 30 Octubre 2017, vol. PP, núm. 99, p. 1-10.
Keywords
Human-Like motions, Humanoid robots, Path planning for manipulators, Synergies
Group of research
SIR - Service and Industrial Robotics

Participants

Attachments