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dc.contributor.authorGarcía Hidalgo, Néstor
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2017-11-08T08:13:28Z
dc.date.available2017-11-08T08:13:28Z
dc.date.issued2017-07-01
dc.identifier.citationGarcia, N., Suarez, R., Rosell, J. First-order synergies for motion planning of anthropomorphic dual-arm robots. "IFAC-PapersOnLine", 1 Juliol 2017, vol. 50, núm. 1, p. 2247-2254.
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/2117/110127
dc.description.abstractThis paper addresses the problem of designing a planning algorithm for anthropomorphic dual-arm robotic systems to find paths that mimics the movements of real human beings by using first-order synergies (correlations between joint velocities). The key idea of the proposal is to convert captured human movements into a vector field of velocities, defined in the configuration space of the robot, and use it to guide the search of a solution path. The motion planning is solved using the proposed algorithm, called FOS-BKPIECE, that is a bidirectional version of the KPIECE planner working with an improved version of the extension procedure of the VF-RRT planner. The obtained robot movements follow the directions of the defined vector field and hence allow the robot to solve the task in a human-like fashion. The paper presents a description of the proposed approach as well as results from conceptual and application examples, the latter using a real anthropomorphic dual-arm robotic system. A thorough comparison with other previous planning algorithms shows that the proposed approach obtains better results.
dc.format.extent8 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.lcshAlgorithm
dc.subject.otherDual-Arm Robots
dc.subject.otherHuman-Like Motions
dc.subject.otherPath Planning
dc.subject.otherRobotics
dc.subject.otherSynergies
dc.titleFirst-order synergies for motion planning of anthropomorphic dual-arm robots
dc.typeArticle
dc.subject.lemacRobòtica
dc.subject.lemacMans mecàniques
dc.subject.lemacAlgorismes
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1016/j.ifacol.2017.08.187
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S2405896317303348?via%3Dihub
dc.rights.accessOpen Access
local.identifier.drac21591344
dc.description.versionPostprint (published version)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/643921/EU/Unifying Control and Verification of Cyber-Physical Systems/UnCoVerCPS
local.citation.authorGarcia, N.; Suarez, R.; Rosell, J.
local.citation.publicationNameIFAC-PapersOnLine
local.citation.volume50
local.citation.number1
local.citation.startingPage2247
local.citation.endingPage2254


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Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain