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Human-like Manipulation Planning for Articulated Manipulator

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Author:
No author available
Journal Title:
Journal of Bionic Engineering
Issue:
4
DOI:
10.1016/S1672-6529(11)60136-4
Key Word:
manipulation planning;human likeness;rapid upper limb assessment;applied ergonomics;task compatibility measurement;velocity transmission ratio

Abstract: A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper.This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space.The robot configuration space is divided into different subregions by human likeness assessment.A widely used strategy,Rapid Upper Limb Assessment (RULA) in applied ergonomics,is adopted here to evaluate the human likeness of robot configuration.A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem.Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented.Further applications to a humanoid industrial robot SDA10D are also presented.The reasonable planning results for these applications assert the effectiveness of our method.

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