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It contradicts the human's expectations when humanoid robots move awkwardly during manipulation tasks. The unnatural motion may be caused by awkward start or goal configurations or by probabilistic path planning processes that are often used. This paper shows that the choice of an arm's target configuration strongly effects planning time and how human-like a planned path appears. Human-like goal configurations...
A robotic ball-catching system built from a multi-purpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented. Other than in previous work a mechatronically complex dexterous hand is used for grasping the ball and the decision of where, when and how to catch the ball, while obeying joint, speed and work cell limits, is formulated as an unified nonlinear optimization...
Humanoid robots are envisioned in general household tasks. To be able to fulfill a given task the robot needs to be equipped with knowledge concerning the manipulation and interaction in the environment and with knowledge about its own capabilities. When performing actions, e.g. opening doors or imitating human reach to grasp movements special 3-d trajectories are followed with the robot's end-effector...
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