안전한 인간-로봇 상호작용을 위한 실시간 파지 계획

Abstract

This paper introduces a real-time framework which is able to generate smooth and natural grasping motion. The proposed framework plans its grasp strategies into suitable grasping motion according to the interaction with another person. The framework consists of 2 main modules: precomputed motion graph and motion field called as motion field graph. The graph is used for generating reference path while considering the opponent’s pose. The motion field provides smooth motions by integrating the velocities obtained from the graph.