Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover
| Autor: | Matthias König, Robin Rasch, Sven Wachsmuth |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry 02 engineering and technology Function (mathematics) Object (computer science) law.invention 020901 industrial engineering & automation Handover Joint constraints law 0202 electrical engineering electronic engineering information engineering Trajectory Robot 020201 artificial intelligence & image processing Computer vision Cartesian coordinate system Artificial intelligence business Humanoid robot |
| Zdroj: | Humanoids |
| DOI: | 10.1109/humanoids43949.2019.9034990 |
| Popis: | This thesis addresses the problem of modeling and planning anthropomorphic movements for robots during object handovers. The anthropomorphic movement during interactions between humans and robots should enable humans to feel safer and thus more accepting of robots. Using a combined model of Cartesian trajectory and the limitations of joint function using the recorded primitive joint movements of humans, we aimed to model and plan such an anthropomorphic movement. A simulation involving two different robots (the humanoid robot Pepper, and a Franka Panda) was used to evaluate the accuracy of the proposed model against human motion models and test the required planning time. The results showed that the proposed model is a useful trade-off between a model in Cartesian space and a model in joint space. |
| Databáze: | OpenAIRE |
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