Human-like motion planning for robotic arm system

Biyun Xie, Jing Zhao, Yu Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

We explore the problem of human-like motion planning for robotic arms based on researches in biophysics, robotics and motion planning. Two common manipulation tasks, reaching point movement in obstacle free environment and reaching point movement through a narrow passage, are separately studied. First, we proposed a hypothesis named "Target Arm Pose" (TAP) to interpret the natural motion of human arm. Second, based on TAPs and the minimum jerk model, we develop a new robotic inverse kinematic algorithm in joint jerk level to conduct the reaching point movement in obstacle free environment. Furthermore, based on the new algorithm we utilize the redundancy of the robot to avoid joint velocity limits. Next, we use existing Bi-RRT algorithm combined with TAPs to implement the reaching point movement through a narrow passage. Finally, comparison between these two tasks and two algorithms is made to give a systematic analysis on the human-like motion planning problem.

Original languageEnglish
Title of host publicationIEEE 15th International Conference on Advanced Robotics
Subtitle of host publicationNew Boundaries for Robotics, ICAR 2011
Pages88-93
Number of pages6
DOIs
StatePublished - 2011
EventIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 - Tallinn, Estonia
Duration: Jun 20 2011Jun 23 2011

Publication series

NameIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

Conference

ConferenceIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Country/TerritoryEstonia
CityTallinn
Period6/20/116/23/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Human-Computer Interaction

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