Abstract
We present a general framework for generating trajectories and actuator forces that will take a robot system from an initial configuration to a goal configuration in the presence of obstacles observed with noisy sensors. Studies of human voluntary manipulation tasks suggest that human motions can be described as solutions of certain optimization problems. Motivated by these observations, we formulate the robot motion planning problem as a problem of finding the trajectory and the associated actuator inputs that optimize a performance criterion dictated by specific task requirements. We show that this approach can be extended to incorporate uncertainty by formulating the motion planning problem as a two-person, zero sum game with the optimal solution being a saddle-point strategy. We present several examples to illustrate our approach.
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Kumar, V., Žefran, M., Ostrowski, J. (1998). Motion planning in humans and robots. In: Shirai, Y., Hirose, S. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1580-9_10
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DOI: https://doi.org/10.1007/978-1-4471-1580-9_10
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1582-3
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