Modeling human-likeness in approaching motions of dual-arm autonomous robots
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
This paper addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set on the coordinated movements of the robotic arms and the robot base while approaching a table to subsequently perform a bimanual manipulation task. For this, human movements are captured and mapped to the robot in order to compute the human dual-arm synergies. Since the demonstrated synergies change depending on the robot position, a recursive Cartesian-space discretization is presented based on these differences. Thereby, different movements of the arms are assigned to different regions of the Cartesian space. As an application example, a motion-planning algorithm exploiting this information is proposed and used.
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CitationRosell, J., Suarez, R., García, N. Modeling human-likeness in approaching motions of dual-arm autonomous robots. A: IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots. "Proceedings of the 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 91-96.