Task-dependent synergies for motion planning of an anthropomorphic dual-arm system
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
The paper deals with the problem of 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.
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
CitationGarcia, N., Suarez, R., Rosell, J. Task-dependent synergies for motion planning of an anthropomorphic dual-arm system. "IEEE transactions on robotics", 1 Juny 2017, vol. 33, núm. 3, p. 756-764.