Generation of Human-like Arm Motions using Sampling-based Motion Planning
Carl Gäbert,Sascha Kaden,Ulrike Thomas,Carl Gäbert,Sascha Kaden,Ulrike Thomas
Natural and human-like arm motions are promising features to facilitate social understanding of humanoid robots. To this end, we integrate biophysical characteristics of human arm-motions into sampling-based motion planning. We show the generality of our method by evaluating it with multiple manipulators. Our first contribution is to introduce a set of cost functions to optimize for human-like arm...
