Human-like Manipulation Planning for Articulated Manipulator

doi:10.1016/S1672-6529(11)60136-4

Abstract

Abstract:

A new method based on human-likeness assessment and optimization concept to solve the problem of human-like manipulation planning for articulated robot is proposed in this paper. This method intrinsically formulates the problem as a constrained optimization problem in robot configuration space. The robot configuration space is divided into different subregions by human likeness assessment. A widely used strategy, Rapid Upper Limb Assessment (RULA) in applied ergonomics, is adopted here to evaluate the human likeness of robot configuration. A task compatibility measurement of the robot velocity transmission ratio along a specified direction is used as the target function for the optimization problem. Simple illustrative examples of this method applied to a two Degree of Freedom (DOF) planar robot that resembles the upper limb of a human are presented. Further applications to a humanoid industrial robot SDA10D are also presented. The reasonable planning results for these applications assert the effectiveness of our method.

Key words: manipulation planning, human likeness, rapid upper limb assessment, applied ergonomics, task compatibility measurement, velocity transmission ratio

Yahui Gan, Xianzhong Dai. Human-like Manipulation Planning for Articulated Manipulator[J].J4, 2012, 9(4): 434-445.

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