Motion planning by demonstration with human-likeness evaluation for dual-arm robots
Tipo de documentoArtículo
Fecha de publicación2017-10-30
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condiciones de accesoAcceso abierto
Proyecto de la Comisión EuropeaEC-MINECO-DPI2013-40882-P
The paper presents a planning procedure that allows an anthropomorphic dual-arm robotic system to perform a manipulation task in a natural human-like way by using demonstrated human movements. The key idea of the proposal is to convert the demonstrated trajectories into attractive potential fields defined over the configuration space and then use an RRT*-based planning algorithm that minimizes a path-cost function designed to bias the tree growth towards the human-demonstrated configurations. The paper presents a description of the proposed approach as well as results from a conceptual and a real application example, the latter using a real anthropomorphic dual-arm robotic system. A path-quality measure, based on first-order synergies (correlations between joint velocities) obtained from real human movements, is also proposed and used for evaluation and comparison purposes. The obtained results show that the paths obtained with the proposed procedure are more human-like.
© 20xx 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
CitaciónGarcía, N., Rosell, J., Suarez, R. Motion planning by demonstration with human-likeness evaluation for dual-arm robots. "IEEE Transactions on Systems, Man, and Cybernetics. Systems", 30 Octubre 2017, vol. PP, núm. 99, p. 1-10.
Versión del editorhttp://ieeexplore.ieee.org/document/8089669/