Dimensionality Reduction for Motion Planning of Dual-arm Robots

Chen, Pengfei; Zhao, Huan; Zhao, Xin; Ge, Dongsheng; Ding, Han

doi:10.1109/icma.2018.8484704

Cited by 5 publications

(7 citation statements)

References 10 publications

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“…To emulate the human arm configuration, many research groups [32,33] have designed a mobile platform consisting of two industrial robotic arms UR5 with six DOFs, where each arm is equipped with 16 DOFs in an Allegro Hand. Similarly, ABB's Friendly Robot for Industrial Dual-Arm Assembly (FRIDA) is a dual-arm robot with seven degrees of freedom in each arm.…”

Section: Magnetic Marker Tracking Systemmentioning

confidence: 99%

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Trivedi

Menychtas

Alqasemi

et al. 2023

Sensors

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In recent years, numerous studies have been conducted to analyze how humans subconsciously optimize various performance criteria while performing a particular task, which has led to the development of robots that are capable of performing tasks with a similar level of efficiency as humans. The complexity of the human body has led researchers to create a framework for robot motion planning to recreate those motions in robotic systems using various redundancy resolution methods. This study conducts a thorough analysis of the relevant literature to provide a detailed exploration of the different redundancy resolution methodologies used in motion generation for mimicking human motion. The studies are investigated and categorized according to the study methodology and various redundancy resolution methods. An examination of the literature revealed a strong trend toward formulating intrinsic strategies that govern human movement through machine learning and artificial intelligence. Subsequently, the paper critically evaluates the existing approaches and highlights their limitations. It also identifies the potential research areas that hold promise for future investigations.

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Section: Magnetic Marker Tracking Systemmentioning

confidence: 99%

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Trivedi

Menychtas

Alqasemi

et al. 2023

Sensors

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show abstract

“…For example, Chen et al [29] introduced a technique to reduce the dimensionality of the joints space for human-like dual-arm motion planning. This approach wants to replicate the demonstrations of human operators acting on common daily tasks.…”

Section: General Insights On Approaching Human-likeness Of Arm Motionmentioning

confidence: 99%

“…Therefore, this approach works in the joints space of a manipulator; it runs off-line and globally deals with the workspace of the robot. Dynamical variables of the motion were not considered because Chen et al [29] focused on the study of the non-linear relationship of the joints positions in the attempt of extracting this particular aspect of the human upper-limb motion.…”

Section: General Insights On Approaching Human-likeness Of Arm Motionmentioning

confidence: 99%

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Human-Like Arm Motion Generation: A Review

2020

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In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analyzed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.

show abstract

“…this approach works in the joints space of a manipulator; it runs off-line and globally deals with the workspace of the robot. Dynamical variables of the motion were not considered because Chen et al [29] focused on the study of the non-linear relationship of the joints positions in the attempt of extracting this particular aspect of the human upper-limb motion.…”

Section: General Insights On Approaching Human-likeness Of Arm Motionmentioning

confidence: 99%

Human-Like Arm Motion Generation: A Review

Gulletta¹,

Erlhagen²,

Bicho³

2020

Preprint

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In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analysed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioural and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.

show abstract

Dimensionality Reduction for Motion Planning of Dual-arm Robots

Cited by 5 publications

References 10 publications

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

Human-Like Arm Motion Generation: A Review

Human-Like Arm Motion Generation: A Review

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