Generating robotic trajectories with motion harmonics

A system for generating robot trajectories, comprising:

• a memory device configured to store computer-readable instructions thereon;
• and
• at least one computing device configured, through execution of the computer-readable instructions, to:
• adapt a human motion trajectory from a first workspace into a robot-reachable motion trajectory in a second workspace;
• generate motion harmonics with reference to the robot-reachable motion trajectory;
• search weights of the motion harmonics and identify a new motion trajectory to reduce discrepancy from the human motion trajectory and error due to at least one constraint;
• and
• direct a robot to move according to the new motion trajectory.

A method of generating robot trajectories, comprising:

• adapting, by at least one computing device, human motion trajectories from a first workspace into robot-reachable motion trajectories in a second workspace;
• generating, by the at least one computing device, motion harmonics with reference to the robot-reachable motion trajectories;
• specifying at least one constraint for a new goal;
• searching, by the at least one computing device, weights of the motion harmonics to identify a new motion trajectory to reduce error due to the at least one constraint and discrepancy from at least one of the human motion trajectories or the robot-reachable motion trajectories;
• and
• directing, by the at least one computing device, a robot to move according to the new motion trajectory.