Making planned paths look more human-like in humanoid robot manipulation planning

摘要：

It contradicts the human’s expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm’s target configuration strongly effects planning time and how human-like a planned path appears. Human-like goal configurations are found using a criterion from ergonomics research. The knowledge which pose of the Tool Center Point (TCP) can be reached in a natural manner is encapsulated in a restricted reachability map for the robot arm.

作者: F. Zacharias C. Schlette F. Schmidt C. Borst J. Rossmann G. Hirzinger

作者单位: Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany Institute of Man-Machine- Interaction,RWTH Aachen University,Germany

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1192-1198

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）