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Moving Personal Robots in Real-Time Using Primitive Motions

Moving Personal Robots in Real-Time Using Primitive Motions 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. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Moving Personal Robots in Real-Time Using Primitive Motions

Autonomous Robots , Volume 10 (2) – Oct 19, 2004

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References (20)

Publisher
Springer Journals
Copyright
Copyright © 2001 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1008934020111
Publisher site
See Article on Publisher Site

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.

Journal

Autonomous RobotsSpringer Journals

Published: Oct 19, 2004

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