Planning Ergonomic Sequences of Actions in Human-Robot Interaction

被引：0
|
作者：
Busch, Baptiste [1 ,2 ]
Toussaint, Marc [3 ]
Lopes, Manuel [4 ]
机构：
[1] INRIA, FLOWERS Team, BSO, Talence, France
[2] INRIA, ENSTA Paritech Joint Lab, Talence, France
[3] Univ Stuttgart, Machine Learning & Robot Lab, Stuttgart, Germany
[4] Univ Lisbon, Inst Super Tecn, INESC ID, Lisbon, Portugal
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2018年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we define the problem of humanrobot collaboration as a combined task and motion planning problem which is extended to the multi-agent case (human and robot). Our proposed approach allows us to explicitly take into account ergonomic cost, synchrony and concurrency of behavior in an optimization formulation. We show simulated results as well as an experiment with a real robot combined with a user study. Results show that optimizing over a sequence of actions leads to more ergonomic situations.
引用
收藏
页码：1916 / 1923
页数：8
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