Moving Personal Robots in Real-Time Using Primitive Motions |
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Authors: | Li Xu Yuan F Zheng |
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Affiliation: | (1) Department of Electrical Engineering, Zhejiang University, Hangzhou, 310027, People's Republic of China;(2) Department of Electrical Engineering, The Ohio State University, Columbus, OH 43210, USA |
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Abstract: | Personal robotics is a new and attractive use of robotic technologies. In this paper we study one of its important topics—real-time motion planning of personal robots. We propose to use primitive motions and their combinations to make this possible. The primitive motion has a unified pattern and is borrowed from the motion pattern of human hands observed by previous researchers. The pattern is simple yet powerful and can form complex trajectories. A reflexive motion control scheme is proposed to activate appropriate primitive motions for a desired motion. As a result, real-time motion planning of personal robots becomes possible by using discrete and sparse human commands. Experiments results are presented to show the effectiveness of the proposed scheme. |
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Keywords: | personal robots primitive motion pattern of primitive motion combination of primitive motions reflexive behavior |
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