Title :
Motion planning for human-robot interaction in manipulation tasks
Author :
Esteves, Claudia ; Arechavaleta, Gustavo ; Laumond, Jean-Paul
Author_Institution :
LAAS-CNRS, Toulouse, France
fDate :
29 July-1 Aug. 2005
Abstract :
This paper presents a motion planner to automatically compute animations for virtual (human, humanoid or robot) mannequins cooperating to move bulky objects in cluttered environments. The main challenge is to deal with 3D collision avoidance while preserving the believability of the agents behaviors. To accomplish the coordinated task, a geometric and kinematic decoupling of the system is proposed. This decomposition enables us to plan a collision-free path for a reduced system, then to animate locomotion and grasping behaviors in parallel, and finally to clean up the animation from residual collisions. These three steps are automatically applied making use of different techniques such as probabilistic path planning, locomotion controllers, inverse kinematics and path planning for closed-kinematic mechanisms.
Keywords :
collision avoidance; man-machine systems; manipulator kinematics; motion control; 3D collision avoidance; agents behaviors; closed-kinematic mechanisms; geometric decoupling; human-robot interaction; inverse kinematics; kinematic decoupling; locomotion controllers; manipulation tasks; motion planning; probabilistic path planning; virtual mannequins; Animation; Collision avoidance; Humanoid robots; Humans; Legged locomotion; Motion control; Motion planning; Path planning; Robot kinematics; Robotics and automation;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626827