Fig 3 - uploaded by Jan Rosell
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A 2-dimensional space C f modelled with two PMDs, i.e. E = (ˆ e 1 , ˆ e 2 ), obtained from the input dataset (gray points). The subspace SC f is supposed to be 1-dimensional and defined by E ′ = (ˆ e 1 ). Samples (big red dots on thê e 1 -axis) are obtained from the sampling box that in this case is the segment (−λ 1 , λ 1 ).
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This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as a sequence of human-like postures that both capture the coupling that there exist between the fingers of the human hand and also...
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In this work, we present an integrated approach for planning collision-free grasping motions. The proposed Grasp–RRT planner combines the three main tasks needed for grasping an object: building a feasible grasp, solving the inverse kinematics problem and determining a collision-free trajectory that brings the hand to the grasping pose. Therefore,...
This paper describes the motivation for the development of the HuroCup competition and follows the rule development from its inaugural competition in 2002 to 2015. The history of HuroCup is broken down into its growing phase (2002 – 2006), a time of explosive growth (2007 – 2011), and current times. The paper describes the main research focus of Hu...
Citations
... The proposed obstacles-avoidance mechanisms are summarized in Table A2. For example, Rosell et al. [74] proposed a human-like sampling of the configurations of a robotic arm-hand system that also improve the efficiency of a PRM-based graph building [75] in hand pre-shaping movements during grasping. Specifically, the hand motion of a human operator is captured during the execution of unconstrained movements and then mapped onto a robotic anthropomorphic hand to extract the inter-fingers coordination by a principal component analysis. ...
... Specifically, the hand motion of a human operator is captured during the execution of unconstrained movements and then mapped onto a robotic anthropomorphic hand to extract the inter-fingers coordination by a principal component analysis. Rosell et al. [74] took into consideration human-like requirements that may regulate the palm orientation constantly facing an object to be grasped during prehension. These considerations, and the principal components of the fingers' motion, permit to solve a planning query between two feasible arm-hand configurations with reduced dimensionality. ...
In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analyzed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.
... However, only the 27.78% of the reviewed papers addressed this particular issue. For example, Rosell et al. [72] proposed a human-like sampling of the configurations of a robotic arm-hand system that also improve the efficiency of a PRM-based graph building [73] in hand pre-shaping movements during grasping. Specifically, the hand motion of a human operator is captured during the execution of unconstrained movements and then mapped onto a robotic anthropomorphic hand to extract the inter-fingers coordination by a principal component analysis. ...
... Specifically, the hand motion of a human operator is captured during the execution of unconstrained movements and then mapped onto a robotic anthropomorphic hand to extract the inter-fingers coordination by a principal component analysis. Rosell et al. [72] also took into consideration human-like requirements that may regulate the palm orientation constantly facing an object to be grasped during prehension. These considerations, and the principal components of the fingers' motion, permit to solve a planning query between two feasible arm-hand configurations with reduced dimensionality. ...
In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analysed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioural and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.
... Each sample inside A provides a Cartesian position of the hand with respect to the object coordinate frame. The orientation of the hand with respect to the object is defined in such a way that the object is always "visible" for the palm, as suggested in [18] to generate more human-like paths. This still leaves one DoF, the roll orientation for the hand around the approach axis, which is chosen such that the palm is parallel to the main axis of inertia of the object [19]. ...
Traditionally, grasp and arm motion planning are considered as separate tasks. This paper presents an integrated approach that only requires the initial configuration of the robotic arm and the pose of the target object to simultaneously plan a good hand pose and arm trajectory to grasp the object. The planner exploits the concept of independent contact regions to look for the best possible grasp. The goal poses for the end effector are obtained using two different methods: one that biases a sampling approach towards favorable regions using principal component analysis, and another one that considers the capabilities of the robotic arm to decide the most promising hand poses. The proposed method is evaluated using different scenarios for the humanoid robot Spacejustin.
... 3) Las configuraciones del brazo también pueden obtenerse de un subespacio si se definen restricciones en su movimiento. Concretamente, si se fija la restricción de que la orientación de la muñeca sea tal que la palma de la mano apunte al objeto a asir, el número de grados de libertad baja de 6 a 4, y además los movimientos resultan más parecidos a los que realizaría un humano [42]. Fig. 3. Regiones R S y V S obtenidas usando PCA en un espacio de configuraciones C de dimensión 3. ...
Con el objetivo de avanzar hacia la emulación de las capacidades y destreza de la mano humana se están desarrollando manos robóticas con prestaciones muy superiores a las tradicionales pinzas usadas en la robótica industrial. El uso de estas manos robóticas conlleva asociados nuevos retos, y entre ellos está el de la planificación eficiente de sus movimientos, ya que aunque algunos métodos de planificación tradiciones podrían ser válidos, su aplicación práctica es limitada debido sobre todo al elevado umero de grados de libertad que tiene un sistema robótico que incluya una mano antropomorfa montada sobre un brazo manipulador. Este artículo presenta un enfoque que permite soluciones suficientemente eficientes para ser utilizadas en la práctica. El enfoque propuesto está basado en la reducción de la dimensión del espacio de usqueda y en la utilización de técnicas de muestreo para generar movimientos del conjunto mano-brazo en entornos con obstáculos que pueden imponer fuertes restricciones en la usqueda de movimientos sin colisión, como sucede normalmente cuando la mano se acerca a un objeto para su sujeción y manipulación. Los desarrollos teóricos han sido implementados tanto en simulación como en un sistema físico real, por lo que se incluyen resultados experimentales reales. I. INTRODUCC ON En eí ambito de robótica ya se han desarrollado robots humanoides capaces de caminar y robots móviles capaces de autolocalizarse y buscar de forma autónoma caminos hacia su objetivo, pero a pesar de ello la interacción física con el entorno sigue estando (aun en los casos mencionados) limitada a acciones muy básicas que con frecuencia se realizan mediante herramientas específicas poco versátiles, lo que limita notablemente su campo de aplicación. De cara a solventar este problema se están construyendo elementos prensores de alta versatilidad, especialmente manos mecánicas antropomorfas que intentan alcanzar la altísima destreza y versatilidad de la mano humana. Estos dispositivos tienen normalmente un número de grados de libertad (GDL) que va de 12 (4 dedos con 3 GDL independientes cada uno) a 25 (5 dedos con 4 GDL independientes cada uno más uno en la palma de la mano) [1]. Algunos ejemplos de manos antropomorfas con 4 dedos son las manos Utah/MIT [2], DIST [3], LMS [4]; DLR [5] y MA-I [6], y con 5 dedos las manos Belgrade/USC [7], Anthrobot-2 [8], NTU [9], ROBONAUT [10], Gifu [11], Shadow [12] y Bolonia 3 [13]. Dos buenas revisiones de los ha sido parcialmente financiado por el Gobierno Español mediante los proyectos PI09/90088, DPI2010-15446 y DPI2008-02448.
In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analysed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioural and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.
The increasing interest and advancements in wearable electronics, biomedical
applications and digital signal processing techniques have led to the unceasing
progress and research in novel implementations of wireless communications
technology. Human motion tracking and localisation are some of the numerous
promising applications that have emerged from this interest. Ultra-wideband (UWB)
technology is particularly seen as a very attractive solution for microwave-based
localisation due to the fine time resolution capabilities of the UWB pulses. However,
to prove the viability of utilizing UWB technology for high precision localisation
applications, a considerable amount of research work is still needed. The impact of the
presence of the human body on localisation accuracy needs to be investigated. In
addition, for guaranteeing accurate data retrieval in an impulse-radio based system,
the study of pulse distortion becomes indispensable. The objective of the research
work presented in this thesis is to study and carry out experimental investigations to
formulate new techniques for the development of an Impulse-radio UWB sensor
based localisation system for human motion tracking applications. This research work
initiates a new approach for human motion tracking by making use of pulsed UWB
technology which will allow the development of advanced tracking solutions with the
capacity to meet the needs of professional users.
Extensive experimental studies involving several ranging and three dimensional
localisation investigations have been undertaken, and the potential of achieving high
precision localisation using ultra-wideband technology has been demonstrated.
Making use of the upper portion of the UWB band, a novel miniature antenna
designed for integration in the UWB localisation system is presented and its
performance has been examined. The key findings and contributions of this research
work include UWB antenna characterisation for pulse based transmission, evaluation
of comprehensive antenna fidelity patterns, impact of pulse fidelity on the
communication performance of a UWB radio system, along with studies regarding the
effect of the human body on received pulse quality and localisation accuracy. In
addition, an innovative approach of making use of antenna phase centre information
for improving the localisation accuracy has been presented.
