NDLI: Making planned paths look more human-like in humanoid robot manipulation planning

Content Provider	IEEE Xplore Digital Library
Author	Zacharias, F. Schlette, C. Schmidt, F. Borst, C. Rossmann, J. Hirzinger, G.
Copyright Year	2011
Description	Author affiliation: Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany (Zacharias, F.; Schmidt, F.; Hirzinger, G.) \|\| Institute of Man-Machine-Interaction, RWTH Aachen University, Germany (Schlette, C.; Rossmann, J.)
Abstract	It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target configuration strongly effects planning time and how human-like a planned path appears. Human-like goal configurations are found using a criterion from ergonomics research. The knowledge which pose of the Tool Center Point (TCP) can be reached in a natural manner is encapsulated in a restricted reachability map for the robot arm.
Starting Page	1192
Ending Page	1198
File Size	434234
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979553
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Humans Planning Humanoid robots Trajectory
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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