Making a motion more likely human-act in moveit2

Technical Support
1

Hi, I am currently make a motion for service robot’s left arm, and right arm with 2 joints per arm

By the way, I want to make a motion more likely human act, however currently this motions acts more likely robot act… (discretely…)

I think If I can adjust velocity, and acceleration per motion, the motion would ber more likely human act.

So, can I adjust vel, and acc per motion in MoveIt2? or any other opinions or related sources to achieve human-likely motion?

Thanks for your help.

2

Have you tried to adjust Profile Acceleration and Profile Velocity yet?

You can try this YouTube video for some ideas.

3

Oh, I just watched it, this video helped well. Using profile vel, acc adjustment from dynamixel also can make motion smoothly. Thanks! :slight_smile: :slight_smile: