Mostra el registre d'ítem simple
Including virtual constraints in motion planning for anthropomorphic hands
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Pérez, Alexander |
dc.contributor.author | Rosales Gallegos, Carlos |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2011-06-15T16:45:43Z |
dc.date.available | 2015-03-05T09:52:52Z |
dc.date.created | 2011 |
dc.date.issued | 2011 |
dc.identifier.citation | Rosell, J. [et al.]. Including virtual constraints in motion planning for anthropomorphic hands. A: IEEE International Symposium on Assembly and Manufacturing. "2011 IEEE International Symposium on Assembly and Manufacturing". 2011. |
dc.identifier.isbn | 978-1-61284-341-4 |
dc.identifier.uri | http://hdl.handle.net/2117/12781 |
dc.description.abstract | This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as a sequence of human-like postures that both capture the coupling that there exist between the fingers of the human hand and also maintain the palm oriented towards the object to be grasped. The proposed method is a sampling-based approach whose efficiency relies in the reduction of the dimensionality obtained by considering, for the finger joints, a subspace determined by the main principal motion directions that capture the coupling and, for the position and orientation of the palm, the submanifold that satisfies the orientation constraint. The approach is illustrated with an example and compared to the case where no virtual constrains are used, validating the proposal. |
dc.language.iso | eng |
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::Informàtica::Robòtica |
dc.subject.lcsh | Informatica |
dc.title | Including virtual constraints in motion planning for anthropomorphic hands |
dc.type | Conference report |
dc.subject.lemac | Mans mecàniques -- Informes |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.description.peerreviewed | Peer Reviewed |
dc.rights.access | Open Access |
local.identifier.drac | 5779715 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Rosell, J.; Suárez, R.; Pérez, A.; Rosales, C. |
local.citation.contributor | IEEE International Symposium on Assembly and Manufacturing |
local.citation.publicationName | 2011 IEEE International Symposium on Assembly and Manufacturing |