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Title:	Task-dependent synergies for motion planning of an anthropomorphic dual-arm system
Author:	García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan
Other authors:	Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
Abstract:	© 2016 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
Abstract:	The paper deals with the problem of 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.
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Informàtica -Robots--Design and construction -Path Planning for Manipulators -Humanoid Robots -Synergies -Dimensionality Reduction -Robots -- Disseny i construcció -Reconeixement de formes (Informàtica)
Rights:	Attribution-NonCommercial-NoDerivs 3.0 Spain http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Document type:	Article - Submitted version Article
Published by:	Institute of Electrical and Electronics Engineers (IEEE)
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