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Integrated Grasp and Motion Planning using Independent Contact Regions
dc.contributor | ROA GARZÓN, MÁXIMO ALEJANDRO |
dc.contributor.author | FONTANALS MARTÍNEZ, JOAN |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2015-03-24T20:10:35Z |
dc.date.available | 2015-03-24T20:10:35Z |
dc.date.issued | 2015-01 |
dc.identifier.uri | http://hdl.handle.net/2099.1/25631 |
dc.description.abstract | Traditionally, grasp and arm motion planning are considered as separate tasks. This might lead to problems such as limitations in the grasp possibilities, or unnecessary long times in the solution of the planning problem. This thesis presents an integrated approach that only requires the initial con guration of the robotic arm and the pose of the target object to simultaneously plan a good hand pose and arm trajectory to grasp the object. The planner exploits the concept of independent contact regions to look for the best possible grasp. In this document, two di erent methods have been considered to search for good end-e ector poses. One biases a sampling approach towards favorable regions using principal component analysis, and the other one considers the capabilities of the robotic arm to decide the most promising hand poses. The performance of the methods is evaluated using di erent scenarios for the humanoid robot SpaceJustin. In order to validate the paths, some scenarios were replicated in the laboratory and the generated paths were executed on the real robot. |
dc.language.iso | eng |
dc.publisher | Universitat Politècnica de Catalunya |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Enginyeria mecànica::Fabricació::Disseny i accionaments de robots |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Manipulators (Mecanism) |
dc.subject.lcsh | Robotics |
dc.title | Integrated Grasp and Motion Planning using Independent Contact Regions |
dc.type | Master thesis (pre-Bologna period) |
dc.subject.lemac | Manipuladors (Mecanismes) |
dc.subject.lemac | Robòtica |
dc.rights.access | Open Access |
dc.audience.educationlevel | Estudis de primer/segon cicle |
dc.audience.mediator | Escola Tècnica Superior d'Enginyeria Industrial de Barcelona |
dc.provenance | Aquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web |
dc.audience.degree | ENGINYERIA INDUSTRIAL (Pla 1994) |
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