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Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

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10.1007/s10514-011-9232-5
 
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hdl:2117/12786

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Rosell Gratacòs, JanMés informacióMés informacióMés informació
Suárez Feijóo, RaúlMés informacióMés informacióMés informació
Rosales Gallegos, Carlos
Pérez, Alexander
Document typeArticle
Defense date2011-07
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
This work is protected by the corresponding intellectual and industrial property rights. Except where otherwise noted, its contents are licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
Abstract
The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). 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 probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom), and experimental examples are included to illustrate its validity.
CitationRosell, J. [et al.]. Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures. "Autonomous robots", Juliol 2011, vol. 31, núm. 1, p. 87-102. 
URIhttp://hdl.handle.net/2117/12786
DOI10.1007/s10514-011-9232-5
ISSN0929-5593
Publisher versionhttp://www.springerlink.com/content/e8437h7g442r8424/
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  • SIR - Service and Industrial Robotics - Articles de revista [77]
  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Articles de revista [1.541]
  • IOC - Institut d'Organització i Control de Sistemes Industrials - Articles de revista [119]
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