Task-Dependent Synergies for Motion Planning of an Anthropomorphic Dual-Arm System

Task-Dependent Synergies for Motion Planning of an Anthropomorphic Dual-Arm System

This paper discusses motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity of the movements needed to solve two given tasks. Planning using this measure to select proper arm synergies for a given task improves the planning performance and the resulting plan.

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Veröffentlicht in:IEEE transactions on robotics 2017-06, Vol.33 (3), p.756-764
Hauptverfasser: Garcia, Nestor, Suarez, Raul, Rosell, Jan
Format: Artikel
Sprache:eng
Schlagworte:
Anthropomorphism
Complexity theory
Correlation
Design and construction
Dimensionality Reduction
Disseny i construcció
Feasibility
Humanoid Robots
Indexes
Informàtica
Manipulators
Motion planning
Path Planning for Manipulators
Planning
Principal component analysis
Reconeixement de formes (Informàtica)
Robot dynamics
Robots
Synergies
Àrees temàtiques de la UPC
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Beschreibung
Zusammenfassung:This paper discusses motion planning for anthropomorphic dual-arm robots. It introduces a measure of the similarity of the movements needed to solve two given tasks. Planning using this measure to select proper arm synergies for a given task improves the planning performance and the resulting plan.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2017.2676131