Titre: Planning human-like movements for dual-arm robots
The talk describes a procedure to carry out the planning of movements of a two-arm robot in such a way that the resulting movements have a « human appearance » while trying to reduce the computational complexity. The proposal is based on the use of synergies between the movements of the joints when performing a certain task, both in terms of position and velocity. Using the same concepts, a way to carry out a taxonomy of tasks is also proposed, in order to group those that are performed with similar movements, thus optimizing their planning. Finally, a measure of similarity of the robot’s movements with the natural movements of the human being is proposed in order to be able to measure in some way the degree of human appearance of the results.
Raul SUAREZ FEIJOO Short Biography https://iocnet.upc.edu/usuaris/raulsuarez/
- Date: 12/05/2022, 10h30
- Lieu: IBISC, site Pelvoux, salle Ax101 et à distance via Collaborate https://eu.bbcollab.com/guest/dcee395c2faf40bfb55a48d8429596c4
- Invitants: Hicham HADJ-ABDELKADER (MCF Univ. Évry, IBISC équipe SIAM), Nicolas SEGUY (MCF Univ. Évry, IBISC équipe SIAM) et Samia BOUCHAFA-BRUNEAU (PR Univ. Évry, IBISC équipe SIAM)
- Organisatrice: Naïma AITOUFROUKH-MAMMAR (MCF Univ. Évry, IBISC équipe SIAM)
- Slides de la présentation de Raul SUAREZ FEIJOO (format PDF)