Motion control strategies for humanoids based on ergonomics

Christian Schlette*, Jürgen Roßmann

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Resumé

Due to the body analogy and their ability to communicate also via body language, humanoid robots are discussed as being mostly fit for applications in service robotics. An essential precondition of their deployment in human environments is the generation and control of human-like and thus predictable motions. This contribution introduces new motion control strategies which are based on the "Rapid Upper Limb Assessment" (RULA), a method for the analysis of ergonomic conditions at manual workplaces. We have previously adapted RULA to work with the Virtual Human, a simulated anthropomorphic multiagent system for the analysis of human motions and manipulations. Enabled by the control framework behind the Virtual Human, we here transfer RULA to humanoids in general and propose it as a well-defined and transparent heuristic for the control of human-like motions.

OriginalsprogEngelsk
TitelIntelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings
Vol/bind7102 LNAI
Publikationsdato2011
UdgavePART 2
Sider229-240
ISBN (Trykt)9783642254888
DOI
StatusUdgivet - 2011
Udgivet eksterntJa
Begivenhed4th International Conference on Intelligent Robotics and Applications, ICIRA 2011 - Aachen, Tyskland
Varighed: 6. dec. 20118. dec. 2011

Konference

Konference4th International Conference on Intelligent Robotics and Applications, ICIRA 2011
LandTyskland
ByAachen
Periode06/12/201108/12/2011
NavnLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NummerPART 2
Vol/bind7102 LNAI
ISSN0302-9743

Fingeraftryk

Motion control
Ergonomics
Multi agent systems
Robotics
Robots

Citer dette

Schlette, C., & Roßmann, J. (2011). Motion control strategies for humanoids based on ergonomics. I Intelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings (PART 2 udg., Bind 7102 LNAI, s. 229-240). Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Nr. PART 2, Bind. 7102 LNAI https://doi.org/10.1007/978-3-642-25489-5_23
Schlette, Christian ; Roßmann, Jürgen . / Motion control strategies for humanoids based on ergonomics. Intelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings. Bind 7102 LNAI PART 2. udg. 2011. s. 229-240 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Nr. PART 2, Bind 7102 LNAI).
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abstract = "Due to the body analogy and their ability to communicate also via body language, humanoid robots are discussed as being mostly fit for applications in service robotics. An essential precondition of their deployment in human environments is the generation and control of human-like and thus predictable motions. This contribution introduces new motion control strategies which are based on the {"}Rapid Upper Limb Assessment{"} (RULA), a method for the analysis of ergonomic conditions at manual workplaces. We have previously adapted RULA to work with the Virtual Human, a simulated anthropomorphic multiagent system for the analysis of human motions and manipulations. Enabled by the control framework behind the Virtual Human, we here transfer RULA to humanoids in general and propose it as a well-defined and transparent heuristic for the control of human-like motions.",
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Schlette, C & Roßmann, J 2011, Motion control strategies for humanoids based on ergonomics. i Intelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings. PART 2 udg, bind 7102 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), nr. PART 2, bind 7102 LNAI, s. 229-240, 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011, Aachen, Tyskland, 06/12/2011. https://doi.org/10.1007/978-3-642-25489-5_23

Motion control strategies for humanoids based on ergonomics. / Schlette, Christian; Roßmann, Jürgen .

Intelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings. Bind 7102 LNAI PART 2. udg. 2011. s. 229-240 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Nr. PART 2, Bind 7102 LNAI).

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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Schlette C, Roßmann J. Motion control strategies for humanoids based on ergonomics. I Intelligent Robotics and Applications - 4th International Conference, ICIRA 2011, Proceedings. PART 2 udg. Bind 7102 LNAI. 2011. s. 229-240. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Nr. PART 2, Bind 7102 LNAI). https://doi.org/10.1007/978-3-642-25489-5_23