Bio-inspired motion strategies for a bimanual manipulation task
Bio-inspired motion strategies for a bimanual manipulation task
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DOI：
10.1109/ichr.2010.5686830
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
Jan Steffen;Christof Elbrechter;R. Haschke;H. Ritter
中科院分区：
文献类型：
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作者：
Jan Steffen;Christof Elbrechter;R. Haschke;H. Ritter
我们考虑协调两个五指拟人机器人手来拿起人类用户递过来的罐子并拧开其盖子的复杂任务。使用一对 7 自由度冗余手臂来操作手，我们研究了如何在手指和手臂层面结合人体运动策略来帮助解决整个双手任务。在手指级别，我们采用手指控制流形来进行旋松运动，该运动是通过应用于数据手套捕获的人体运动数据的内核方法来合成的。在手臂层面，我们使用基于观察人类手臂运动的启发式方法来增强系统可以成功处理的传递配置的空间。此外，我们还简要描述了整个系统的架构，该系统包括 54 个运动自由度，集成了摄像头视觉、手臂和手指控制以及用于与人类用户交互的语音输出组件。
We consider the complex task of coordinating two five-fingered anthropomorphic robot hands for taking a jar passed from a human user and unscrewing its cap. Using a pair of 7-DOF redundant arms for operating the hands, we study how the incorporation of human movement strategies at the finger and arm levels can aid in the solution of the overall bimanual task. At the finger level, we employ a finger control manifold for the unscrewing motion that has been synthesized with a kernel approach applied to human motion data captured with a data glove. At the arm level, we use a heuristic motivated from the observation of human arm movements to enhance the space of pass-over configurations that the system can successfully handle. In addition, we provide a brief description of the architecture of the overall system that comprises 54 motor degrees of freedom and integrates camera vision, arm and finger control as well as a speech output component for interaction with the human user.