دانلود مقاله ISI انگلیسی شماره 87943
ترجمه فارسی عنوان مقاله

همکاری های اولیه برای برنامه ریزی حرکت روبات های دوتایی انترپومورفیک 1

عنوان انگلیسی
First-Order Synergies for Motion Planning of Anthropomorphic Dual-Arm Robots 1
کد مقاله سال انتشار تعداد صفحات مقاله انگلیسی
87943 2017 8 صفحه PDF
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : IFAC-PapersOnLine, Volume 50, Issue 1, July 2017, Pages 2247-2254

ترجمه کلمات کلیدی
روباتیک، برنامه ریزی راه روبات های دوگانه ای، همکاری، جنبشهای مانند انسان،
کلمات کلیدی انگلیسی
Robotics; Path Planning; Dual-Arm Robots; Synergies; Human-Like Motions;
پیش نمایش مقاله
پیش نمایش مقاله  همکاری های اولیه برای برنامه ریزی حرکت روبات های دوتایی انترپومورفیک 1

This paper addresses the problem of designing a planning algorithm for anthropomorphic dual-arm robotic systems to find paths that mimics the movements of real human beings by using first-order synergies (correlations between joint velocities). The key idea of the proposal is to convert captured human movements into a vector field of velocities, defined in the configuration space of the robot, and use it to guide the search of a solution path. The motion planning is solved using the proposed algorithm, called FOS-BKPIECE, that is a bidirectional version of the KPIECE planner working with an improved version of the extension procedure of the VF-RRT planner. The obtained robot movements follow the directions of the defined vector field and hence allow the robot to solve the task in a human-like fashion. The paper presents a description of the proposed approach as well as results from conceptual and application examples, the latter using a real anthropomorphic dual-arm robotic system. A thorough comparison with other previous planning algorithms shows that the proposed approach obtains better results.