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Goal Set Inverse Optimal Control and Iterative Re-planning for Predicting Human Reaching Motions in Shared Workspaces
[article]
2016
arXiv
pre-print
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We also show that our method outperforms baselines for predicting human motion when a human and a robot share the workspace. ...
Finally, we predict reaching motions from the human's current configuration to a task-space goal region by iteratively re-planning a trajectory using the learned cost function. ...
We use goal set trajectory optimization in both IOC and Iterative Re-Planning. ...
arXiv:1606.02111v1
fatcat:adk7hwvfabekpf2dzf65jpnkeq
Predicting human reaching motion in collaborative tasks using Inverse Optimal Control and iterative re-planning
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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To enable safe and efficient human-robot collaboration in shared workspaces, it is important for the robot to predict how a human will move when performing a task. ...
Finally, we predict a human's motion for a given task by iteratively re-planning a trajectory for a 23 DoFs human kinematic model using the STOMP algorithm with the learned cost function in the presence ...
Predicting Human Reaching Motion in Collaborative Tasks Using Inverse Optimal Control and Iterative Re-planning Abstract-To enable safe and efficient human-robot collaboration in shared workspaces, it ...
doi:10.1109/icra.2015.7139282
dblp:conf/icra/MainpriceHB15
fatcat:55c6e7shlfckbe7c42z7luoama
Human-Like Arm Motion Generation: A Review
2020
Robotics
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In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. ...
For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction. ...
For instance, Park and Kim [91] described an optimal database construction of human re-targeted motion to learn arm motion primitives for a real-time human-like trajectory planning. ...
doi:10.3390/robotics9040102
fatcat:fahjlaf6hraslknxo7ifw5o4au
Multi 3D camera mapping for predictive and reflexive robot manipulator trajectory estimation
2016
2016 IEEE Symposium Series on Computational Intelligence (SSCI)
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2016 pre-print arXiv:1610.03646v1 fatcat:hspdd3gnlzhpjimdxomz3cms5m
The main goal of our work is to make the operation more flexible in unstructured dynamic workspaces and not just avoid obstacles, but also adapt when performing collaborative tasks with humans in the near ...
We present a method combining 3D Camera based workspace mapping, and a predictive and reflexive robot manipulator trajectory estimation to allow more efficient and safer operation in dynamic workspaces ...
ACKNOWLEDGMENT This work is partially supported by The Research Council of Norway as a part of the Engineering Predictability with Embodied Cognition (EPEC) project, under grant agreement 240862 ...
doi:10.1109/ssci.2016.7850237
dblp:conf/ssci/MiseikisGET16
fatcat:ksoe7oth4jcjdhf6jrgb4z2xri
Intention-Aware Motion Planning Using Learning Based Human Motion Prediction
2017
Robotics: Science and Systems XIII
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We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. ...
We represent the predicted human motion using a Gaussian distribution and compute tight upper bounds on collision probabilities for safe motion planning. ...
RELATED WORKS In this section, we give a brief overview of prior work on human motion prediction, task planning for human-robot collaborations, and motion planning in environments shared with humans. ...
doi:10.15607/rss.2017.xiii.045
dblp:conf/rss/ParkPM17
fatcat:a3pgv2hi3zecfj4x4nwnrrkerq
Goal-Directed Reasoning and Cooperation in Robots in Shared Workspaces: an Internal Simulation Based Neural Framework
2018
Cognitive Computation
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In the setting of an industrial task where two robots are jointly assembling objects in a shared workspace, we describe a bioinspired neural architecture for goal-directed action planning based on coupled ...
From social dining in households to product assembly in manufacturing lines, goal-directed reasoning and cooperation with other agents in shared workspaces is a ubiquitous aspect of our day-to-day activities ...
need to be re-planned to avoid collisions. ...
doi:10.1007/s12559-018-9553-1
pmid:30147802
pmcid:PMC6096944
fatcat:mujplqwanjckphikysejs3gggq
Viewing Robot Navigation in Human Environment as a Cooperative Activity
[article]
2017
arXiv
pre-print
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To meet human comparable efficiency, a robot needs to predict the human trajectories and plan its own trajectory correspondingly in the same shared space. ...
Humans concurrently aid and comply with each other while moving in a shared space. ...
Acknowledgements This work is supported by the European Union's Horizon 2020 research and innovation programme under grant agreement No. 688147 (MuMMER project). ...
arXiv:1708.01267v2
fatcat:7u6dwupq7fbk5d36ayixe33csq
Viewing Robot Navigation in Human Environment as a Cooperative Activity
[chapter]
2019
Distributed Autonomous Robotic Systems
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To meet human comparable efficiency, a robot needs to predict the human trajectories and plan its own trajectory correspondingly in the same shared space. ...
Humans concurrently aid and comply with each other while moving in a shared space. ...
Acknowledgements This work is supported by the European Union's Horizon 2020 research and innovation programme under grant agreement No. 688147 (MuMMER project). ...
doi:10.1007/978-3-030-28619-4_25
fatcat:66jbortttna5fjncueioccb2qi
I-Planner: Intention-Aware Motion Planning Using Learning Based Human Motion Prediction
[article]
2017
arXiv
pre-print
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We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. ...
We represent the predicted human motion using a Gaussian distribution and compute tight upper bounds on collision probabilities for safe motion planning. ...
RELATED WORK In this section, we give a brief overview of prior work on human motion prediction, task planning for human-robot collaborations, and motion planning in environments shared with humans. ...
arXiv:1608.04837v5
fatcat:64ygzlhu6fcrrjkqtlaf23xsju
Towards Assessing the Human Trajectory Planning Horizon
2016
PLoS ONE
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This work considers optimal control and model predictive control approaches for accurate trajectory prediction and proposes to integrate aspects of human behavior to improve their performance. ...
By modeling humans as model predictive controllers, the influence of the planning horizon is investigated in simulations. ...
Acknowledgments This work is supported in part within the ERC Advanced Grant SHRINE Agreement No. 267877 (www.shrine-project.eu) and in part by the Technische Universität München-Institute for Advanced ...
doi:10.1371/journal.pone.0167021
pmid:27936015
pmcid:PMC5147863
fatcat:ucwlwmcjaverpecufzhyrqpoja
CHOMP: Covariant Hamiltonian optimization for motion planning
2013
The international journal of robotics research
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In this paper, we present CHOMP (covariant Hamiltonian optimization for motion planning), a method for trajectory optimization invariant to reparametrization. ...
CHOMP can be used to locally optimize feasible trajectories, as well as to solve motion planning queries, converging to low-cost trajectories even when initialized with infeasible ones. ...
Acknowledgments We thank Gil Jones and Willow Garage for their support, particularly in performing ROS experiments. ...
doi:10.1177/0278364913488805
fatcat:lelp5mb6xrbwpli6npvpotli74
Dynamic collision avoidance for multiple robotic manipulators based on a non-cooperative multi-agent game
[article]
2022
arXiv
pre-print
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2021 pre-print arXiv:2103.00583v1 fatcat:mqlp6cqpunc5vkj3j55fsu6qsa
In this work, we propose a real-time capable motion control algorithm, based on non-linear model predictive control, which accounts for static and dynamic collision avoidance. ...
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. ...
The former indicates that our approach enables flexible, real-time capable motion control and trajectory planning of multiple robots operating in the same workspace. ...
arXiv:2103.00583v2
fatcat:ezxlmxa74ne3ndwrcx75sasnbu
A Hybrid Framework for Understanding and Predicting Human Reaching Motions
2018
Frontiers in Robotics and AI
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Robots collaborating naturally with a human partner in a confined workspace need to understand and predict human motions. ...
In motor control, reaching motions are framed as an optimization problem. However, different optimality criteria predict disparate motion behavior. ...
AUTHOR CONTRIBUTIONS OO formulated and initiated the research. ZZ finalized the research and conducted the experiments. OO, ZZ, and DW wrote the paper. ...
doi:10.3389/frobt.2018.00027
pmid:33500914
pmcid:PMC7806050
fatcat:ovlxyuwdebbkjc4bjgy6m7xr4a
Learning Coupled Dynamical Systems from human demonstration for robotic eye-arm-hand coordination
2012
2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
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We recorded gaze, arm, hand, and trunk data from human subjects in reaching and grasping scenarios with/without obstacle in the workspace. ...
When facing perturbations, the system can re-plan its actions almost instantly, without the need for an additional planning module. ...
Our work exploits this biologically inspired notion of forward models in motor control, and uses a model of the dynamics of the reaching motion to predict collisions with objects in the workspace when ...
doi:10.1109/humanoids.2012.6651574
dblp:conf/humanoids/LukicSB12
fatcat:esbc2ucllnd7hpcoj52mlchtqq
Realtime Trajectory Smoothing with Neural Nets
[article]
2022
arXiv
pre-print
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In Realtime Motion Planning, obstacles are detected in real time through a vision system, and new trajectories are planned with respect to the current positions of the obstacles, and immediately executed ...
Existing realtime motion planners, however, lack the smoothing post-processing step -- which are crucial in sampling-based motion planning -- resulting in the planned trajectories being jerky, and therefore ...
However, such a solution is inefficient and precludes true human-robot collaboration, where humans and robots are to share a common workspace. ...
arXiv:2111.02165v2
fatcat:2onwykpghfbwnf45vevbygpdm4
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