Using synergies in dual-arm manipulation tasks
Using synergies in dual-arm manipulation tasks
复制标题
在双臂操纵任务中利用协同作用
DOI：
--
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
N. García
中科院分区：
文献类型：
--
作者：
R. Suárez;J. Rosell;N. García
本文研究了双臂拟人系统的运动规划问题，目的是减少问题的计算成本，并使运动看起来尽可能像人。该提案的关键思想是寻找双臂拟人系统的协同作用，以便利用它们在保持人形外观的同时减少搜索空间的维数。这个想法已经发展并成功地用于规划机械手的运动，因此扩展到双臂系统是有吸引力的。本文介绍了所提出的方法的描述以及实际的实验结果，鼓励在这方面进行进一步的研究。
The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key idea of the proposal is the search of synergies of the dual-arm anthropomorphic system in order to use them to reduce the dimension of the search space while preserving human-like appearance. This idea was already developed and successfully used to plan movements of robotic hands, thus the extension to a dual-arm system is attractive. The paper presents a description of the proposed approach as well as real experimental results that encourage doing further research in this line.