Show simple item record

dc.contributor.authorGarcía, Néstor
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2018-01-10T08:45:30Z
dc.date.available2018-01-10T08:45:30Z
dc.date.issued2017-10-30
dc.identifier.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.
dc.identifier.issn2168-2216
dc.identifier.urihttp://hdl.handle.net/2117/112558
dc.description© 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
dc.description.abstractThe 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.
dc.format.extent10 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
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.lcshAndroids
dc.subject.lcshRobots--Control systems
dc.subject.otherPath planning for manipulators
dc.subject.otherHumanoid robots
dc.subject.otherSynergies
dc.subject.otherHuman-Like motions
dc.titleMotion planning by demonstration with human-likeness evaluation for dual-arm robots
dc.typeArticle
dc.subject.lemacAndroides
dc.subject.lemacMans mecàniques
dc.subject.lemacRobots -- Moviment
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1109/TSMC.2017.2756856
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://ieeexplore.ieee.org/document/8089669/
dc.rights.accessOpen Access
drac.iddocument21594564
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/MINECO/DPI2013-40882-P
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/MINECODPI2014-57757-R
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/MINECODPI2016-80077-R
upcommons.citation.authorGarcía, N.; Rosell, J.; Suarez, R.
upcommons.citation.publishedtrue
upcommons.citation.publicationNameIEEE Transactions on Systems, Man, and Cybernetics. Systems
upcommons.citation.volumePP
upcommons.citation.number99
upcommons.citation.startingPage1
upcommons.citation.endingPage10


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

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