Functional Anthropomorphism for human to robot motion mapping

摘要

In this paper we propose a generic methodology for human to robot motion mapping for the case of a robotic arm hand system, allowing anthropomorphism. For doing so we discriminate between Functional Anthropomorphism and Perceptional Anthropomorphism, focusing on the first to achieve anthropomorphic solutions of the inverse kinematics for a redundant robot arm. Regarding hand motion mapping, a “wrist” (end-effector) offset to compensate for differences between human and robot hand dimensions is applied and the fingertips mapping methodology is used. Two different mapping scenarios are also examined: mapping for teleoperation and mapping for autonomous operation. The proposed methodology can be applied to a variety of human robot interaction applications, that require a special focus on anthropomorphism.