Abstract
Human friendly robots should behave as human beings as well as their appearances. This paper proposes a motion planning method that let robots' motions look like humans'. This paper deals with a very typical case that dual-arm robots execute partially restricted coordinated tasks. The proposed method derives the desired trajectories by using a cost function consists of “minimum torque change” and “degree of visibility, ” the concept, “degree of visibility” is first introduced in this paper. Several simulations and human subjects' experiences have shown that this method can derive more human like behaviors than the conventional methods. Especially, it could be recognized that the “degree of visibility” may play some important roles for human perceptions.
