Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/78133
Título: | A human-like upper-limb motion planner: generating naturalistic movements for humanoid robots |
Autor(es): | Gulletta, Gianpaolo Silva, Eliana Costa e Erlhagen, Wolfram Meulenbroek, Ruud Costa, Maria Fernanda Pires Bicho, Estela |
Palavras-chave: | Humanoids and human-like robotics Human-like motion planning Cognitive systems Human–robot interaction Naturalistic obstacles-avoidance human– robot interaction |
Data: | Mar-2021 |
Editora: | SAGE |
Revista: | International Journal of Advanced Robotic Systems |
Citação: | Gulletta, G., Silva, E. C. E., Erlhagen, W., Meulenbroek, R., Costa, M. F. P., & Bicho, E. (2021). A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots. International Journal of Advanced Robotic Systems, 18(2), 1729881421998585. |
Resumo(s): | As robots are starting to become part of our daily lives, they must be able to cooperate in a natural and efficient manner with humans to be socially accepted. Human-like morphology and motion are often considered key features for intuitive human–robot interactions because they allow human peers to easily predict the final intention of a robotic movement. Here, we present a novel motion planning algorithm, the Human-like Upper-limb Motion Planner, for the upper limb of anthropomorphic robots, that generates collision-free trajectories with human-like characteristics. Mainly inspired from established theories of human motor control, the planning process takes into account a task-dependent hierarchy of spatial and postural constraints modelled as cost functions. For experimental validation, we generate arm-hand trajectories in a series of tasks including simple point-to-point reaching movements and sequential object-manipulation paradigms. Being a major contribution to the current literature, specific focus is on the kinematics of naturalistic arm movements during the avoidance of obstacles. To evaluate human-likeness, we observe kinematic regularities and adopt smoothness measures that are applied in human motor control studies to distinguish between well-coordinated and impaired movements. The results of this study show that the proposed algorithm is capable of planning arm-hand movements with human-like kinematic features at a computational cost that allows fluent and efficient human–robot interactions. |
Tipo: | Artigo |
URI: | https://hdl.handle.net/1822/78133 |
DOI: | 10.1177/1729881421998585 |
ISSN: | 1729-8806 |
e-ISSN: | 1729-8814 |
Versão da editora: | https://doi.org/10.1177/1729881421998585 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CAlg - Artigos em revistas internacionais / Papers in international journals CMAT - Artigos em revistas com arbitragem / Papers in peer review journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Paper_HUMP_2021_1729881421998585.pdf | journal paper | 3,86 MB | Adobe PDF | Ver/Abrir |
Este trabalho está licenciado sob uma Licença Creative Commons