期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 49, 期 11, 页码 2298-2307出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2017.2756856
关键词
Human-like motions; humanoid robots; path planning for manipulators; synergies
资金
- Spanish Government [DPI2013-40882-P, DPI2016-80077-R]
- Generalitat de Catalunya [FI-DGR 2016]
This 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 toward the human-demonstrated configurations. This paper presents a description of the proposed approach as well as results from a conceptual and a real application example, the latter using a real anthropomorphic dual-arm robotic system. A path-quality measure, based on first-order synergies (correlations between joint velocities) obtained from real human movements, is also proposed and used for evaluation and comparison purposes. The obtained results show that the paths obtained with the proposed procedure are more human-like.
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