Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 33, Issue 3, Pages 756-764Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2017.2676131
Keywords
Dimensionality reduction; humanoid robots; path planning for manipulators; synergies
Categories
Funding
- Spanish Government [DPI2013-40882-P, DPI2014-57757-R, DPI2016-80077-R]
- Generalitat de Catalunya [FI-DGR 2016]
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This paper discusses 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.
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