Weitschat, Roman und Dietrich, Alexander und Vogel, Jörn (2016) Online Motion Generation for Mirroring Human Arm Motion. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation, 2016-05-16 - 2016-05-21, Stockholm, Sweden. doi: 10.1109/icra.2016.7487620.
PDF
952kB |
Kurzfassung
Motion planning in robotics is a very large field of research. Many different approaches have been developed to create smooth trajectories for robot movement. For example there are optimization algorithms, which optimize kinematic or dynamic properties of a trajectory. Furthermore, nonlinear programming methods like e.g. optimal control, or polynomial based methods are widely used for trajectory generation. Most of these techniques are used to calculate a trajectory in advance, or they are limited to create point-to-point motions, where the robot needs to stop when switching to the next target point, especially, when interpolating in rotational space. In this paper, we combine a low-pass filter and spherical linear interpolation to realize a velocity-limited online trajectory generator for robot orientations in quaternion space. We use the developed motion generator for mirroring a human arm motion with a robot, recorded by a low frequency visual tracking. Using the proposed method, we can replicate the motion of the operator’s arm with very little delay and thereby achieve an easy-to-use interface. Furthermore, as we can strictly limit the velocity of the generated motion, the approach can safely be used in human robot collaboration applications.
elib-URL des Eintrags: | https://elib.dlr.de/105055/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Online Motion Generation for Mirroring Human Arm Motion | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | Mai 2016 | ||||||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation ICRA | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/icra.2016.7487620 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | SLERP, Trajectory generation, mirroring motions, low frequency sensor based motion generation | ||||||||||||||||
Veranstaltungstitel: | IEEE International Conference on Robotics and Automation | ||||||||||||||||
Veranstaltungsort: | Stockholm, Sweden | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 16 Mai 2016 | ||||||||||||||||
Veranstaltungsende: | 21 Mai 2016 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Interagierende Robotersteuerung [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Weitschat, Roman | ||||||||||||||||
Hinterlegt am: | 18 Jul 2016 14:20 | ||||||||||||||||
Letzte Änderung: | 05 Jun 2024 13:48 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags