Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning

Lei Shi, Qichao Liu, Cheng Zhou, Wentao Gao, Haotian Wu, Yu Zheng, Xiong Li

Abstract

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we propose an optimal control framework that integrates compliant control dynamics, optimizing robotic arm motion through a response time matrix. This matrix sets the timing parameters for joint movements, turning the system into a time-parameterized optimal control problem. The model focuses on the interaction between active and passive joints under external disturbances, improving adaptability and compliance. This method achieves optimal trajectory generation and balances precision and compliance. Experimental results on both a manipulator and a humanoid robot validate the approach.

Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning

Abstract

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we propose an optimal control framework that integrates compliant control dynamics, optimizing robotic arm motion through a response time matrix. This matrix sets the timing parameters for joint movements, turning the system into a time-parameterized optimal control problem. The model focuses on the interaction between active and passive joints under external disturbances, improving adaptability and compliance. This method achieves optimal trajectory generation and balances precision and compliance. Experimental results on both a manipulator and a humanoid robot validate the approach.
Paper Structure (16 sections, 32 equations, 8 figures, 1 algorithm)

This paper contains 16 sections, 32 equations, 8 figures, 1 algorithm.

Table of Contents

  1. Introduction
  2. Related Work
  3. The Analysis of Human-like Motion
  4. Analysis of Human-like Motion Patterns
  5. Dynamics Analysis for Coordinated Movement
  6. Compliant Motion of Passive Joint
  7. The Optimal Control Solution
  8. The Human-inspired Motion Planning Algorithm
  9. Constrained Optimal Control for Human-like Motion
  10. Augmented Hamiltonian for Constrained Optimal Control
  11. Optimal Control for Joint Motion
  12. Algorithm Extension:Precision-Compliance Trade-off
  13. Experiments
  14. Experiments on a Collaborative Robotic Arm
  15. Experiments on a Novel Humanoid Robot
  16. ...and 1 more sections

Figures (8)

  • Figure 1: Human-Like Motion Process: (a) Coordinated Movement: Focuses on the torque transmission and temporal synchronization between multiple joints, ensuring movement coordination and efficiency. (b) Compliant Motion: Considers the dynamic behavior of passive joints during force transmission from active joints, including force propagation and energy absorption characteristics, ensuring compliant response and stability under external disturbances.
  • Figure 2: The Hill-type musculotendon actuator. CE: Contractile element, PEE: Parallel elastic element, SEE: Serial elastic element.
  • Figure 3: The lever based mechanism of human movement.Balanced levers(left), labor-saving levers(middle), and labor-intensive levers(right)
  • Figure 4: Coordinated motion analysis. $L_1$ and $L_2$ are the length. $\tau_1$ and $\tau_2$ denote the shoulder (joint 1) and wrist (joint 2) torque respectively.
  • Figure 5: The throwing motion of shoulder-elbow-wrist type robot.
  • ...and 3 more figures