Coordination, symmetry, and grouping parameters for redundant movement strategies for articulated platforms

A method is presented for generating multiple trajectories through configuration space between an initial and a final pose. This method is based on a concept from La-ban/Bartenieff Movement Studies (LBMS), which describes large, body-level coordinated movement strategies. As a part of this implementation, a set of axes is defined on an articulated robot and in between these axes, the degrees of freedom are grouped together. Then, starting from an initial pose, a range of intermediate poses can be selected using a parametrization scheme leveraging the defined axes. A motion plan then consists of the configuration space trajectories leading from the initial pose to the intermediate pose and then to the final pose following the group sequence. This idea has been implemented on a simulated robot with four serial link chains. Also, the different movements thus generated have been quantified by associating a physical quantity for each movement which may be used for making such motion plans autonomous.