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Título:
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Using synergies in dual-arm manipulation tasks
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Autor/a:
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Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; García Hidalgo, Néstor
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Otros autores:
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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 |
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Abstract:
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The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key idea of the proposal is the search of synergies of the dual-arm anthropomorphic system in order to use them to reduce the dimension of the search space while preserving human-like appearance. This idea was already developed and successfully used to plan movements of robotic hands, thus the extension to a dual-arm system is attractive. The paper presents a description of the proposed approach as well as real experimental results that encourage doing further research in this line. |
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Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robot hands
-manipulators
-path planning
-Assembly
-Joints
-Kinematics
-Planning
-Principal component analysis
-Robot kinematics
-dual-arm anthropomorphic systems
-dual-arm manipulation tasks
-human-like appearance
-robotic hands
-synergies
-Mans mecàniques |
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Derechos:
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Tipo de documento:
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Artículo - Versión presentada
Objeto de conferencia |
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Editor:
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Institute of Electrical and Electronics Engineers (IEEE)
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Compartir:
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