|
Title:
Motion Planning for Human-Robot Interaction in Manipulation Tasks
Author(s):
Claudia Esteves, Gustavo Arechavaleta and Jean-Paul Laumond
Main site:
LAAS
Restrictions:
Public
Abstract:
This paper presents a motion planner to automatically
compute animations for virtual (human, humanoid
or robot) mannequins cooperating to move bulky objects in
cluttered environments. The main challenge is to deal with
3D collision avoidance while preserving the believability of
the agents behaviors. To accomplish the coordinated task,
a geometric and kinematic decoupling of the system is
proposed. This decomposition enables us to plan a collisionfree
path for a reduced system, then to animate locomotion
and grasping behaviors in parallel, and finally to clean up
the animation from residual collisions. These three steps
are automatically applied making use of different techniques
such as probabilistic path planning, locomotion controllers,
inverse kinematics and path planning for closed-kinematic
mechanisms.
Download this deliverable.
|
