Uncovering the Secrets of Human-Like Movement: A Fresh Perspective on Motion Planning

TL;DR

This paper introduces a novel optimal control framework inspired by human biomechanics to generate adaptable, compliant, and precise motion trajectories for robots, validated through experiments on manipulators and humanoid robots.

Contribution

It presents a new biomechanically-inspired optimal control method that incorporates compliant control dynamics and a response time matrix for improved robotic motion planning.

Findings

Enhanced adaptability and compliance in robot movements.

Successful trajectory optimization balancing precision and flexibility.

Validated effectiveness on both manipulator and humanoid robots.

Abstract

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we propose an optimal control framework that integrates compliant control dynamics, optimizing robotic arm motion through a response time matrix. This matrix sets the timing parameters for joint movements, turning the system into a time-parameterized optimal control problem. The model focuses on the interaction between active and passive joints under external disturbances, improving adaptability and compliance. This method achieves optimal trajectory generation and balances precision and compliance. Experimental results on both a manipulator and a humanoid robot validate the approach.