Motion planning by demonstration with human-likeness evaluation for dual-arm robots
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
European Commisision's projectEC-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.
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CitationGarcía, 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.