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

Nestor Garcia, Jan Roseli, Raul Suarez
<span title="">2018</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/os3v7vkbkbcdpn4oa2hxwf3o3y" style="color: black;">2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)</a> </i> &nbsp;
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
more &raquo; ... artesian-space discretization is presented based on these differences. Thereby, different movements of the arms are assigned to different regions of the Cartesian space. As an application example, a motion-planning algorithm exploiting this information is proposed and used.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/simpar.2018.8376269">doi:10.1109/simpar.2018.8376269</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/simpar/GarciaRS18.html">dblp:conf/simpar/GarciaRS18</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zmxf7nzkgrd37hyeoia52wk4fq">fatcat:zmxf7nzkgrd37hyeoia52wk4fq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190430214624/https://upcommons.upc.edu/bitstream/handle/2117/119929/mobileManipulator4.pdf;jsessionid=3870A77BE1ACE7A915A0FAEBEEE1BAC6?sequence=1" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/4c/b0/4cb0fbe74388fe663985625829c15fdd81526a5e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/simpar.2018.8376269"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>