Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/78133
Registo completo
Campo DC | Valor | Idioma |
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dc.contributor.author | Gulletta, Gianpaolo | por |
dc.contributor.author | Silva, Eliana Costa e | por |
dc.contributor.author | Erlhagen, Wolfram | por |
dc.contributor.author | Meulenbroek, Ruud | por |
dc.contributor.author | Costa, Maria Fernanda Pires | por |
dc.contributor.author | Bicho, Estela | por |
dc.date.accessioned | 2022-05-31T15:00:00Z | - |
dc.date.available | 2022-05-31T15:00:00Z | - |
dc.date.issued | 2021-03 | - |
dc.identifier.citation | Gulletta, 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, 18(2), 1729881421998585. | por |
dc.identifier.issn | 1729-8806 | - |
dc.identifier.uri | https://hdl.handle.net/1822/78133 | - |
dc.description.abstract | As 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. | por |
dc.description.sponsorship | The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was funded by the EU Project FP7 Marie Curie NETTNeural Engineering and Transformative Technologies (ID 289146), the FCT PhD grant (ref. SFRH/BD/114923/2016), the FCT Project UID/MAT/00013/2013, and the FCT within the R&D Units Project Scope: UIDB/00319/2020. | por |
dc.language.iso | eng | por |
dc.publisher | SAGE | por |
dc.relation | info:eu-repo/grantAgreement/EC/FP7/289146/EU | por |
dc.relation | info:eu-repo/grantAgreement/FCT/POR_NORTE/SFRH%2FBD%2F114923%2F2016/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UID%2FMAT%2F00013%2F2013/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00319%2F2020/PT | por |
dc.rights | openAccess | por |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | por |
dc.subject | Humanoids and human-like robotics | por |
dc.subject | Human-like motion planning | por |
dc.subject | Cognitive systems | por |
dc.subject | Human–robot interaction | por |
dc.subject | Naturalistic obstacles-avoidance | por |
dc.subject | human– | por |
dc.subject | robot interaction | por |
dc.title | A human-like upper-limb motion planner: generating naturalistic movements for humanoid robots | por |
dc.type | article | por |
dc.peerreviewed | yes | por |
dc.relation.publisherversion | https://doi.org/10.1177/1729881421998585 | por |
oaire.citationStartPage | 1 | por |
oaire.citationEndPage | 31 | por |
oaire.citationIssue | 2 | por |
oaire.citationVolume | 18 | por |
dc.identifier.eissn | 1729-8814 | - |
dc.identifier.doi | 10.1177/1729881421998585 | por |
dc.subject.fos | Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática | por |
dc.subject.fos | Engenharia e Tecnologia::Engenharia Mecânica | por |
dc.subject.wos | Science & Technology | por |
sdum.journal | International Journal of Advanced Robotic Systems | por |
oaire.version | VoR | por |
dc.subject.ods | Indústria, inovação e infraestruturas | por |
Aparece nas coleções: | CAlg - Artigos em revistas internacionais / Papers in international journals CMAT - Artigos em revistas com arbitragem / Papers in peer review journals |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Paper_HUMP_2021_1729881421998585.pdf | journal paper | 3,86 MB | Adobe PDF | Ver/Abrir |
Este trabalho está licenciado sob uma Licença Creative Commons