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Design of non-anthropomorphic robotic hands for anthropomorphic tasks
dc.contributor.author | Simó Serra, Edgar |
dc.contributor.author | Moreno-Noguer, Francesc |
dc.contributor.author | Pérez Gracia, Alba |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2013-03-12T18:21:39Z |
dc.date.available | 2013-03-12T18:21:39Z |
dc.date.created | 2011 |
dc.date.issued | 2011 |
dc.identifier.citation | Simo, E.; Moreno-Noguer, F.; Perez-Gracia, A. Design of non-anthropomorphic robotic hands for anthropomorphic tasks. A: ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. "Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference". Washington: 2011, p. 377-386. |
dc.identifier.uri | http://hdl.handle.net/2117/18243 |
dc.description.abstract | In this paper, we explore the idea of designing non- anthropomorphic multi-fingered robotic hands for tasks tha t replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the five fingertips, we de- velop a method to perform dimensional synthesis for a kinema tic chain with a tree structure, with five branches that share thr ee common joints. We state the forward kinematics equations of relative dis- placements for each serial chain expressed as dual quaterni ons, and solve for up to five chains simultaneously to reach a numbe r of positions along the hand trajectory. This is done using a h y- brid global numerical solver that integrates a genetic algo rithm and a Levenberg-Marquardt local optimizer. Although the number of candidate solutions in this problem is very high, the use of the genetic algorithm allows us to per form an exhaustive exploration of the solution space to obtain a s et of solutions. We can then choose some of the solutions based on t he specific task to perform. Note that these designs match the ta sk exactly while generally having a finger design radically dif ferent from that of the human hand. |
dc.format.extent | 10 p. |
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 | Robots -- Dynamics |
dc.subject.other | robot kinematics PARAULES AUTOR:kinematic synthesis |
dc.subject.other | robot design |
dc.title | Design of non-anthropomorphic robotic hands for anthropomorphic tasks |
dc.type | Conference report |
dc.subject.lemac | Robots -- Dinàmica |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1115/DETC2011-47818 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.relation.publisherversion | http://dx.doi.org/10.1115/DETC2011-47818 |
dc.rights.access | Open Access |
local.identifier.drac | 10740395 |
dc.description.version | Postprint (author’s final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/247947/EU/Gardening with a Cognitive System/GARNICS |
local.citation.author | Simo, E.; Moreno-Noguer, F.; Perez-Gracia, A. |
local.citation.contributor | ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference |
local.citation.pubplace | Washington |
local.citation.publicationName | Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference |
local.citation.startingPage | 377 |
local.citation.endingPage | 386 |