Table 1 A short summary of relevant research studies together with highlighted features in columns
From: Robot body self-modeling algorithm: a collision-free motion planning approach for humanoids
Study | Motion generation approach | Collision avoidance algorithm | Self-modeling method | Target task | Application |
|---|---|---|---|---|---|
Ayoub (1998) | Optimization | Checking the collision of box with knee | – | Human manual lifting | Occupational biomechanics |
Multi-objective optimization approach | Virtual body spheres (located at joints) | – | Human manual lifting | Human biomechanics | |
Dynamic/Static computational optimization | – | – | Human normal walking | Human kinesiology | |
Xiang et al. (2009) | Optimization (incorporation of recursive Lagrangian dynamics with analytical Gradients) | A sphere filling algorithm is applied to avoid the collision of wrist with hip | – | Human walking (under external loads i.e. backpack) | Human motion prediction |
Blajer et al. (2007) | optimization | – | – | Jumping | Humanoid robot |
Mistry et al. (2010) | Mimicking kinematics of human movement | – | – | Sit-to-stand | Humanoid robots |
Wang and Hamam (1992) | optimization | A computational geometry algorithm to compute the distance between the robot segments and object | – | Robotic manipulation | Motion planning of robotic manipulator |
Sugiura et al. (2006) | Null-space optimization criteria | Artificial potential field method | – | Walking | Humanoid robots |
Ohashi et al. (2007) | Linear Inverted Pendulum Mode (LIPM) | Arm force feedback (which acts as a function of the distance from robot to obstacle) | – | Walking | Humanoid robots |
Gold and Scassellati (2007) | Mapping from motor activity to motion | – | Dynamic Bayesian model | Self-recognition | Social robotics |
Martinez-Cantin et al. (2010) | Active learning algorithm | – | Recursive Least Squares (RLS) estimation | Estimating the kinematic model of a serial robot | Social robotics |
Bongard et al. (2006) | Forward locomotion generation through self-model algorithm | – | Continuous dynamics Self-Modeling | Damage recovery | Autonomous robots |