Cooperative motion planning for dual arm robot to demonstrate human arm movements

Human friendly robots should behave like human beings. This paper proposes a cost function, which generates human like movements when robots execute dual arm cooperative tasks. By considering human behavior, we established a cost function based on two factors: "second derivatives of joint torques" and "degree of visibility". As a result of several simulations, we concluded that the proposed cost function generated human like movements, which was closer to real human behavior compared with conventional cost functions.