Abstract
The aim of the described research is to design the robot’s posture taking into account the posture adopted by a human being, in consideration of the desired hand position. The final goal of the work is to provide a motion planning method in which a robot performs its task similarly, but not identically, to a human being. The article presents the geometric method of humanoid robot posture design. After a brief description of the state of art, the purpose of the research is given. Then the posture planning method is described. Human postures recorded in selected situations were compared with the postures planned with the use of the developed method. In the final part, the directions of future work are characterized.
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Acknowledgements
Presented research was supported by POB Research Centre for Artificial Intelligence and Robotics of Warsaw University of Technology within the Excellence Initiative Program – Research University (ID-UB).
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Zielinska, T., Kahraman, O. (2022). Simple Method for Humanoid Robot Posture Design. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_6
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