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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
M. Lawitzky; M. Kimmel; P. Ritzer; S. Hirche 
Title:
Trajectory Generation under the Least Action Principle for Physical Human-Robot Cooperation 
Pages contribution:
4285--4290 
Abstract:
Trajectory generation for active physical assistance to humans in cooperative haptic tasks gains increasing interest in recent literature. Planning-based approaches represent one class of trajectory synthesis methods for active robotic partners. To overcome the limitations of kinematic planning algorithms in dynamic tasks, we propose a three-step approach to the synthesis of trajectories under the principle of least action. This is motivated by neuroscientific findings on human effort minimizati...    »
 
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 
Year:
2013 
Quarter:
2. Quartal 
Year / month:
2013-05 
Month:
May 
Reviewed:
ja 
Language:
en 
Semester:
SS 13