Loading...
Loading...

Go to the content (press return)

Modeling human-likeness in approaching motions of dual-arm autonomous robots

Author
Rosell, J.; Suarez, R.; Garcia, N.
Type of activity
Presentation of work at congresses
Name of edition
SIMPAR - IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Date of publication
2018
Presentation's date
2018-05-16
Book of congress proceedings
Proceedings of the 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots
First page
91
Last page
96
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/SIMPAR.2018.8376269
Project funding
Autonomous dexterous robots as coworkers with human operators
Repository
http://hdl.handle.net/2117/119929 Open in new window
URL
https://ieeexplore.ieee.org/document/8376269 Open in new window
Abstract
This paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set on the coordinated movements of the robotic arms and the robot base while approaching a table to subsequently perform a bimanual manipulation task. For this, human movements are captured and mapped to the robot in order to compute the human dual-arm synergies. Since the demonstrated synergies change depending on the robot position, a recursive C...
Citation
Rosell, J., Suarez, R., García, N. Modeling human-likeness in approaching motions of dual-arm autonomous robots. A: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots. "Proceedings of the 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 91-96.
Keywords
Dual-Arm Autonomous Robots, human-like motions., motion planning
Group of research
SIR - Service and Industrial Robotics

Participants

Attachments