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Motion planning for high DOF anthropomorphic hands
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Rosales Gallegos, Carlos |
dc.contributor.author | García, Jorge Alberto |
dc.contributor.author | Pérez Ruiz, Alexander |
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 | 2010-02-22T15:08:48Z |
dc.date.available | 2010-02-22T15:08:48Z |
dc.date.created | 2009-05-31 |
dc.date.issued | 2009-05-31 |
dc.identifier.citation | Rosell, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/6437 |
dc.description.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. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | IEEE |
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 -- Motion |
dc.subject.lcsh | Hand -- Movements |
dc.subject.lcsh | Mechanical hands |
dc.title | Motion planning for high DOF anthropomorphic hands |
dc.type | Conference report |
dc.subject.lemac | Robots -- Moviment |
dc.subject.lemac | Mans mecàniques |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | http://dx.doi.org/10.1109/ROBOT.2009.5152300 |
dc.rights.access | Open Access |
local.identifier.drac | 2389791 |
dc.description.version | Postprint (published version) |
local.citation.author | Rosell, J.; Suárez, R.; Rosales, C.; García, J.; Pérez, A. |
local.citation.contributor | IEEE International conference on Robotics and Automation |
local.citation.pubplace | Kobe |
local.citation.publicationName | 2009 IEEE International Conference on Robotics and Automation |
local.citation.startingPage | 4025 |
local.citation.endingPage | 4030 |