Task-Dependent Synergies for Motion Planning of an Anthropomorphic Dual-Arm System

被引：18
|
作者：
Garcia, Nestor [1 ]
Suarez, Raul [1 ]
Rosell, Jan [1 ]
机构：
[1] Univ Politecn Cataluna, Inst Ind & Control Engn, ES-08034 Barcelona, Spain
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2017年 / 33卷 / 03期
关键词：
Dimensionality reduction; humanoid robots; path planning for manipulators; synergies; HAND SYNERGIES;
D O I：
10.1109/TRO.2017.2676131
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper discusses 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.
引用
收藏
页码：756 / 764
页数：9
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