dc.contributor
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor
Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.author
García Hidalgo, Néstor
dc.contributor.author
Rosell Gratacòs, Jan
dc.contributor.author
Suárez Feijóo, Raúl
dc.identifier
García, N., Rosell, J., Suarez, R. Motion planning using first-order synergies. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28-October 2, 2015". Hamburg: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 2058-2063.
dc.identifier
978-1-4799-9994-1
dc.identifier
https://hdl.handle.net/2117/82396
dc.identifier
10.1109/IROS.2015.7353650
dc.description.abstract
This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic partition method is defined to optimally divide the configuration space
into cells where first-order synergies are significantly different.
Using this partition, an algorithm that tends to grow a tree by extending the branches in the directions determined by the the first-order synergies of the cell where the leaf to be grown lies is introduced and called FOS-RRT. This allows the natural expansion of the tree along the directions determined by the data used to define the synergies. 2D examples illustrate the performance of the proposed approach, which is particularly attractive for potential applications in human-like robots using human synergies.
dc.description.abstract
Postprint (author's final draft)
dc.format
application/pdf
dc.publisher
Institute of Electrical and Electronics Engineers (IEEE)
dc.rights
Restricted access - publisher's policy
dc.subject
Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject
Robots -- Motion
dc.subject
humanoid robots
dc.subject
Eigenvalues and eigenfunctions
dc.subject
Linear programming
dc.subject
Partitioning algorithms
dc.subject
Principal component analysis
dc.subject
Robots -- Moviment
dc.title
Motion planning using first-order synergies
dc.type
Conference lecture
