Cooperative motion planning for dual arm robot to demonstrate human arm movements
説明
Human friendly robots should behave like human beings. This paper proposes a cost function, which generates human like movements when robots execute dual arm cooperative tasks. By considering human behavior, we established a cost function based on two factors: "second derivatives of joint torques" and "degree of visibility". As a result of several simulations, we concluded that the proposed cost function generated human like movements, which was closer to real human behavior compared with conventional cost functions.
収録刊行物
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- Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication
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Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication 488-493, 2003-06-25
IEEE