Motion planning for high DOF anthropomorphic hands
Visualitza/Obre
Tipus de documentText en actes de congrés
Data publicació2009-05-31
EditorIEEE
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The paper deals with the problem of motion
planning of anthropomorphic mechanical hands avoiding collisions.
The proposed approach tries to mimic the real human
hand motions, but reducing the dimension of the search space
in order to obtain results as a compromise between motion
optimality and planning complexity (time) by means of the
concept of principal motion directions. Basically, the work
includes the following phases: capturing the human hand
workspace using a sensorized glove and mapping it to the
mechanical hand workspace, reducing the space dimension by
looking for the most relevant principal motion directions, and
planning the hand movements using a sampling-based roadmap
planner. The approach has been implemented for a four finger
anthropomorphic mechanical hand, and some examples are
included to illustrate its validity.
CitacióRosell, J. [et al.]. Motion planning for high DOF anthropomorphic hands. A: IEEE International conference on Robotics and Automation. "2009 IEEE International Conference on Robotics and Automation". Kobe: IEEE, 2009, p. 4025-4030.
Versió de l'editorhttp://dx.doi.org/10.1109/ROBOT.2009.5152300
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