Ergonomics in robot trajectory generation (IROS 2017)

baptiste

In collaboration with the Flowers Group in Inria, we addressed the problem of how to generate robot motions that are ergonomically optimal with respect to the human partner. The proposed approach uses metrics provided by the literature in musculoskeletal disorders to optimize the kinematic posture of a calibrated human skeleton. Once this posture is found, we use the ISOEMP method to learn a trajectory for the robot based on the observation of the other human partner, and adapt it to satisfy the ergonomic solution. Details can be found in this paper:

Busch, B.; Maeda, G.; Mollard, Y.; Demangeat, M. & Lopes, M.  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017

Experiment 1

Experiment 2

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