ICRA 2011 Paper Abstract


Paper TuP101.1

Zacharias, Franziska (German Aerospace Center (DLR)), Schlette, Christian (RWTH Aachen University), Schmidt, Florian (German Aerospace Center), Borst, Christoph (German Aerospace Center (DLR)), Rossmann, Juergen (RWTH Aachen University), Hirzinger, Gerd (German Aerospace Center (DLR))

Making Planned Paths Look More Human-Like in Humanoid Robot Manipulation Planning

Scheduled for presentation during the Regular Sessions "Personal and Service Robots" (TuP101), Tuesday, May 10, 2011, 13:40−13:55, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Service Robots, Humanoid Robots, Robot Companions and Social Human-Robot Interaction


It contradicts the humanís expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an armís target configuration strongly effects planning time and how human-like a planned path appears. Human-like goal configurations are found using a criterion from ergonomics research. The knowledge which pose of the Tool Center Point (TCP) can be reached in a natural manner is encapsulated in a restricted reachability map for the robot arm.



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