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Modeling Human-Likeness in Approaching Motions of Dual-Arm Autonomous Robots

MODELING HUMAN-LIKENESS IN APPROACHING MOTIONS OF DUAL-ARM AUTONOMOUS ROBOTS

Raspberry pi,Webcam,Robotics

  • Project Code :
  • TEMBRE19_830
  • .
  • Availability :
  • In Stock
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MODELING HUMAN-LIKENESS IN APPROACHING MOTIONS OF DUAL-ARM AUTONOMOUS ROBOTS

This project addresses the problem of obtaining human-like motions with an anthropomorphic dual-arm torso assembled on a mobile platform. The focus is set on the coordinated movements of the robotic arms and the robot base while approaching a table to subsequently perform a bimanual manipulation task. For this, human movements are captured and mapped to the robot in order to compute the human dual-arm synergies. Since the demonstrated synergies change depending on the robot position, a recursive Cartesian-space discretization is presented based on these differences. Thereby, different movements of the arms are assigned to different regions. As an application example, a motion-planning algorithm exploiting this information is proposed and used. This versatility is augmented when two robotic arms are mounted on the mobile platform In general, dual-arm robotic systems are used to perform coordinated manipulation tasks including regrouping, either arriving to a closed kinematic chain, or cooperating with open chain coordinated movements. Even though dual-arm robot manipulation has been widely investigated

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Package Features

  • Raspberry pi
  • Webcam
  • Servo motors
  • Raspbian OS
  • python

Includes

  • Complete Source Code
  • Complete Documentation
  • Complete Presentation Slides
  • Flow Diagram
  • Database File
  • Screenshots
  • Execution Procedure
  • Readme File
  • Addons
  • Video Tutorials

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