Incorporating shape dependent power law in motion planning for drawing robots

IF 4.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Robotics and Autonomous Systems Pub Date : 2024-09-03 DOI:10.1016/j.robot.2024.104801

Majid Abedinzadeh Shahri , Nematollah Saeidi , Vahid Hajipour

{"title":"Incorporating shape dependent power law in motion planning for drawing robots","authors":"Majid Abedinzadeh Shahri , Nematollah Saeidi , Vahid Hajipour","doi":"10.1016/j.robot.2024.104801","DOIUrl":null,"url":null,"abstract":"<div>Incorporating human natural features into the algorithmic functions of robots can enhance performance efficiency. One of the most popular features of human movements is the power law that defines the connection between movement speed and path curvature. To contribute to this area, by discussing how the power law can provide a reasonable balance between velocity and efficiency, we propose a novel method to design motion profiles based on the power law. The novelty of this solution lies in the adjustment approach for the power law. In this work, inspired by features of human hand movements, the overall curvature of non-circular shapes is considered as the shape-dependent criterion for motion planning. Also, a framework to apply the proposed approach to any open non-circular curvy contours is presented. To investigate the efficiency of the approach, we considered a simple drawing robot. The simulation and experimental results verify the efficacy of the proposed motion planning method.</div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"182 ","pages":"Article 104801"},"PeriodicalIF":4.3000,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0921889024001854/pdfft?md5=01b8e10ad852b88f3d13ec63d56cfd9c&pid=1-s2.0-S0921889024001854-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics and Autonomous Systems","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0921889024001854","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

Incorporating human natural features into the algorithmic functions of robots can enhance performance efficiency. One of the most popular features of human movements is the power law that defines the connection between movement speed and path curvature. To contribute to this area, by discussing how the power law can provide a reasonable balance between velocity and efficiency, we propose a novel method to design motion profiles based on the power law. The novelty of this solution lies in the adjustment approach for the power law. In this work, inspired by features of human hand movements, the overall curvature of non-circular shapes is considered as the shape-dependent criterion for motion planning. Also, a framework to apply the proposed approach to any open non-circular curvy contours is presented. To investigate the efficiency of the approach, we considered a simple drawing robot. The simulation and experimental results verify the efficacy of the proposed motion planning method.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

在绘图机器人的运动规划中纳入形状相关幂律

将人类的自然特征融入机器人的算法功能可以提高性能效率。人类运动最受欢迎的特征之一是幂律，它定义了运动速度与路径曲率之间的联系。为了在这一领域做出贡献，通过讨论幂律如何在速度和效率之间实现合理平衡，我们提出了一种基于幂律设计运动曲线的新方法。这种解决方案的新颖之处在于幂律的调整方法。在这项工作中，受人类手部运动特征的启发，非圆形形状的整体曲率被视为运动规划中与形状相关的标准。此外，还提出了一个框架，可将建议的方法应用于任何开放的非圆形曲线轮廓。为了研究该方法的效率，我们考虑了一个简单的绘图机器人。仿真和实验结果验证了所提运动规划方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.