A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots
Autor(a) principal: | |
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Data de Publicação: | 2021 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/18936 |
Resumo: | As robots are starting to become part of our daily lives, they must be able to cooperate in a natural and efficient manner with humans to be socially accepted. Human-like morphology and motion are often considered key features for intuitive human–robot interactions because they allow human peers to easily predict the final intention of a robotic movement. Here, we present a novel motion planning algorithm, the Human-like Upper-limb Motion Planner, for the upper limb of anthropomorphic robots, that generates collision-free trajectories with human-like characteristics. Mainly inspired from established theories of human motor control, the planning process takes into account a task-dependent hierarchy of spatial and postural constraints modelled as cost functions. For experimental validation, we generate arm-hand trajectories in a series of tasks including simple point-to-point reaching movements and sequential object-manipulation paradigms. Being a major contribution to the current literature, specific focus is on the kinematics of naturalistic arm movements during the avoidance of obstacles. To evaluate human-likeness, we observe kinematic regularities and adopt smoothness measures that are applied in human motor control studies to distinguish between well-coordinated and impaired movements. The results of this study show that the proposed algorithm is capable of planning arm-hand movements with human-like kinematic features at a computational cost that allows fluent and efficient human–robot interactions. |
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A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robotsHumanoids and human-like roboticshuman-like motion planningcognitive systemshuman–robot interactionnaturalistic obstacles-avoidanceAs robots are starting to become part of our daily lives, they must be able to cooperate in a natural and efficient manner with humans to be socially accepted. Human-like morphology and motion are often considered key features for intuitive human–robot interactions because they allow human peers to easily predict the final intention of a robotic movement. Here, we present a novel motion planning algorithm, the Human-like Upper-limb Motion Planner, for the upper limb of anthropomorphic robots, that generates collision-free trajectories with human-like characteristics. Mainly inspired from established theories of human motor control, the planning process takes into account a task-dependent hierarchy of spatial and postural constraints modelled as cost functions. For experimental validation, we generate arm-hand trajectories in a series of tasks including simple point-to-point reaching movements and sequential object-manipulation paradigms. Being a major contribution to the current literature, specific focus is on the kinematics of naturalistic arm movements during the avoidance of obstacles. To evaluate human-likeness, we observe kinematic regularities and adopt smoothness measures that are applied in human motor control studies to distinguish between well-coordinated and impaired movements. The results of this study show that the proposed algorithm is capable of planning arm-hand movements with human-like kinematic features at a computational cost that allows fluent and efficient human–robot interactions.Repositório Científico do Instituto Politécnico do PortoGulletta, GianpaoloCosta e Silva, ElianaErlhagen, WolframMeulenbroek, RuudCosta, Maria Fernanda PiresBicho, Estela2021-11-24T11:12:04Z2021-032021-03-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/18936engGulletta, G., Silva, E. C. e, Erlhagen, W., Meulenbroek, R., Costa, M. F. P., & Bicho, E. (2021). A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots. International Journal of Advanced Robotic Systems. https://doi.org/10.1177/172988142199858510.1177/1729881421998585info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T13:12:12Zoai:recipp.ipp.pt:10400.22/18936Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:38:59.278388Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots |
title |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots |
spellingShingle |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots Gulletta, Gianpaolo Humanoids and human-like robotics human-like motion planning cognitive systems human–robot interaction naturalistic obstacles-avoidance |
title_short |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots |
title_full |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots |
title_fullStr |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots |
title_full_unstemmed |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots |
title_sort |
A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots |
author |
Gulletta, Gianpaolo |
author_facet |
Gulletta, Gianpaolo Costa e Silva, Eliana Erlhagen, Wolfram Meulenbroek, Ruud Costa, Maria Fernanda Pires Bicho, Estela |
author_role |
author |
author2 |
Costa e Silva, Eliana Erlhagen, Wolfram Meulenbroek, Ruud Costa, Maria Fernanda Pires Bicho, Estela |
author2_role |
author author author author author |
dc.contributor.none.fl_str_mv |
Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Gulletta, Gianpaolo Costa e Silva, Eliana Erlhagen, Wolfram Meulenbroek, Ruud Costa, Maria Fernanda Pires Bicho, Estela |
dc.subject.por.fl_str_mv |
Humanoids and human-like robotics human-like motion planning cognitive systems human–robot interaction naturalistic obstacles-avoidance |
topic |
Humanoids and human-like robotics human-like motion planning cognitive systems human–robot interaction naturalistic obstacles-avoidance |
description |
As robots are starting to become part of our daily lives, they must be able to cooperate in a natural and efficient manner with humans to be socially accepted. Human-like morphology and motion are often considered key features for intuitive human–robot interactions because they allow human peers to easily predict the final intention of a robotic movement. Here, we present a novel motion planning algorithm, the Human-like Upper-limb Motion Planner, for the upper limb of anthropomorphic robots, that generates collision-free trajectories with human-like characteristics. Mainly inspired from established theories of human motor control, the planning process takes into account a task-dependent hierarchy of spatial and postural constraints modelled as cost functions. For experimental validation, we generate arm-hand trajectories in a series of tasks including simple point-to-point reaching movements and sequential object-manipulation paradigms. Being a major contribution to the current literature, specific focus is on the kinematics of naturalistic arm movements during the avoidance of obstacles. To evaluate human-likeness, we observe kinematic regularities and adopt smoothness measures that are applied in human motor control studies to distinguish between well-coordinated and impaired movements. The results of this study show that the proposed algorithm is capable of planning arm-hand movements with human-like kinematic features at a computational cost that allows fluent and efficient human–robot interactions. |
publishDate |
2021 |
dc.date.none.fl_str_mv |
2021-11-24T11:12:04Z 2021-03 2021-03-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.22/18936 |
url |
http://hdl.handle.net/10400.22/18936 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Gulletta, G., Silva, E. C. e, Erlhagen, W., Meulenbroek, R., Costa, M. F. P., & Bicho, E. (2021). A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots. International Journal of Advanced Robotic Systems. https://doi.org/10.1177/1729881421998585 10.1177/1729881421998585 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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