Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover
R. Rasch, S. Wachsmuth, M. König, in: IEEE (Ed.), 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), IEEE, 2019, pp. 91–98.
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Konferenzbeitrag
| Veröffentlicht
| Englisch
Autor*in
herausgebende Körperschaft
IEEE
Einrichtung
Abstract
This thesis addresses the problem of modeling and planning anthropomorphic movements for robots during object handovers. The anthropomorphic movement during interactions between humans and robots should enable humans to feel safer and thus more accepting of robots. Using a combined model of Cartesian trajectory and the limitations of joint function using the recorded primitive joint movements of humans, we aimed to model and plan such an anthropomorphic movement. A simulation involving two different robots (the humanoid robot Pepper, and a Franka Panda) was used to evaluate the accuracy of the proposed model against human motion models and test the required planning time. The results showed that the proposed model is a useful trade-off between a model in Cartesian space and a model in joint space.
Erscheinungsjahr
Titel des Konferenzbandes
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Seite
91-98
Konferenz
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Konferenzort
Toronto, ON, Canada
Konferenzdatum
2019-10-15 – 2019-10-17
FH-PUB-ID
Zitieren
Rasch, Robin ; Wachsmuth, Sven ; König, Matthias: Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover. In: IEEE (Hrsg.): 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) : IEEE, 2019, S. 91–98
Rasch R, Wachsmuth S, König M. Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover. In: IEEE, ed. 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids). IEEE; 2019:91-98. doi:10.1109/Humanoids43949.2019.9034990
Rasch, R., Wachsmuth, S., & König, M. (2019). Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover. In IEEE (Ed.), 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) (pp. 91–98). Toronto, ON, Canada: IEEE. https://doi.org/10.1109/Humanoids43949.2019.9034990
@inproceedings{Rasch_Wachsmuth_König_2019, title={Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover}, DOI={10.1109/Humanoids43949.2019.9034990}, booktitle={2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)}, publisher={IEEE}, author={Rasch, Robin and Wachsmuth, Sven and König, Matthias}, editor={IEEEEditor}, year={2019}, pages={91–98} }
Rasch, Robin, Sven Wachsmuth, and Matthias König. “Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover.” In 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), edited by IEEE, 91–98. IEEE, 2019. https://doi.org/10.1109/Humanoids43949.2019.9034990.
R. Rasch, S. Wachsmuth, and M. König, “Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover,” in 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, ON, Canada, 2019, pp. 91–98.
Rasch, Robin, et al. “Combining Cartesian Trajectories with Joint Constraints for Human-Like Robot-Human Handover.” 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), edited by IEEE, IEEE, 2019, pp. 91–98, doi:10.1109/Humanoids43949.2019.9034990.
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