Robot Motion Planning with Human-Like Motion Patterns based on Human Arm Movement Primitive Chains
Shiqiu Gong Jing Zhao Biyun Xie Shiqiu Gong Jing Zhao Biyun Xie
A novel motion planning method is proposed to generate human-like motion for anthropomorphic robot arms. Its highlight is to consider the robot arm to be human-like not only in its configuration but also in its motion patterns. To achieve this, the intrinsic mechanisms of human arm motion generation are transferred to robot motion planning. First, human arm motion is modeled using human arm motion...