Integrated Grasp and Motion Planning using Independent Contact Regions

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hdl:2099.1/25631
Tutor / directorROA GARZÓN, MÁXIMO ALEJANDRO
Document typeMaster thesis (pre-Bologna period)
Date2015-01
Rights accessOpen Access
Except where otherwise noted, content on this work
is licensed under a Creative Commons license
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Attribution-NonCommercial-NoDerivs 3.0 Spain
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.
ProvenanceAquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web
DegreeENGINYERIA INDUSTRIAL (Pla 1994)
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memoria (1).pdf | REPORT | 2,819Mb | View/Open |