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Online Motion Generation for Mirroring Human Arm Motion

Weitschat, Roman and Dietrich, Alexander and 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, Stockholm, Sweden. doi: 10.1109/icra.2016.7487620.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/105055/
Document Type:Conference or Workshop Item (Speech)
Title:Online Motion Generation for Mirroring Human Arm Motion
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Weitschat, RomanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074139193188
Vogel, JörnUNSPECIFIEDhttps://orcid.org/0000-0002-1987-0028UNSPECIFIED
Date:May 2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI:10.1109/icra.2016.7487620
Status:Published
Keywords:SLERP, Trajectory generation, mirroring motions, low frequency sensor based motion generation
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Stockholm, Sweden
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Interacting Robot Control [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Weitschat, Roman
Deposited On:18 Jul 2016 14:20
Last Modified:24 Jul 2023 10:29

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