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A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots

2021-03Journal article Open access
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dc.contributor.authorGulletta, Gianpaolo
dc.contributor.authorCosta e Silva, Eliana
dc.contributor.authorErlhagen, Wolfram
dc.contributor.authorMeulenbroek, Ruud
dc.contributor.authorCosta, Maria Fernanda Pires
dc.contributor.authorBicho, Estela
dc.date.accessioned2021-11-24T11:12:04Z
dc.date.available2021-11-24T11:12:04Z
dc.date.issued2021-03
dc.description.abstractAs robots are starting to become part of our daily lives, they must be able to cooperate in a natural and efficient manner with humans to be socially accepted. Human-like morphology and motion are often considered key features for intuitive human–robot interactions because they allow human peers to easily predict the final intention of a robotic movement. Here, we present a novel motion planning algorithm, the Human-like Upper-limb Motion Planner, for the upper limb of anthropomorphic robots, that generates collision-free trajectories with human-like characteristics. Mainly inspired from established theories of human motor control, the planning process takes into account a task-dependent hierarchy of spatial and postural constraints modelled as cost functions. For experimental validation, we generate arm-hand trajectories in a series of tasks including simple point-to-point reaching movements and sequential object-manipulation paradigms. Being a major contribution to the current literature, specific focus is on the kinematics of naturalistic arm movements during the avoidance of obstacles. To evaluate human-likeness, we observe kinematic regularities and adopt smoothness measures that are applied in human motor control studies to distinguish between well-coordinated and impaired movements. The results of this study show that the proposed algorithm is capable of planning arm-hand movements with human-like kinematic features at a computational cost that allows fluent and efficient human–robot interactions.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationGulletta, G., Silva, E. C. e, Erlhagen, W., Meulenbroek, R., Costa, M. F. P., & Bicho, E. (2021). A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots. International Journal of Advanced Robotic Systems. https://doi.org/10.1177/1729881421998585pt_PT
dc.identifier.doi10.1177/1729881421998585pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/18936
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.relation.publisherversionhttps://journals.sagepub.com/doi/full/10.1177/1729881421998585pt_PT
dc.subjectHumanoids and human-like roboticspt_PT
dc.subjecthuman-like motion planningpt_PT
dc.subjectcognitive systemspt_PT
dc.subjecthuman–robot interactionpt_PT
dc.subjectnaturalistic obstacles-avoidancept_PT
dc.titleA Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robotspt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.issue2pt_PT
oaire.citation.titleInternational Journal of Advanced Robotic Systemspt_PT
oaire.citation.volume18pt_PT
person.familyNameCosta e Silva
person.givenNameEliana
person.identifierR-000-4G8
person.identifier.ciencia-id171F-9307-6C14
person.identifier.orcid0000-0001-9757-6687
person.identifier.scopus-author-id35089874000
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublication6ef3bb11-34ba-4a21-8454-b497cbec6915
relation.isAuthorOfPublication.latestForDiscovery6ef3bb11-34ba-4a21-8454-b497cbec6915

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