Show simple item record

dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.authorRosales Gallegos, Carlos
dc.contributor.authorPérez, Alexander
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2011-06-16T16:15:09Z
dc.date.available2011-06-16T16:15:09Z
dc.date.created2011-07
dc.date.issued2011-07
dc.identifier.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.
dc.identifier.issn0929-5593
dc.identifier.urihttp://hdl.handle.net/2117/12786
dc.description.abstractThe 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.
dc.format.extent16 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshInformatica
dc.titleAutonomous motion planning of a hand-arm robotic system based on captured human-like hand postures
dc.typeArticle
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1007/s10514-011-9232-5
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://www.springerlink.com/content/e8437h7g442r8424/
dc.rights.accessOpen Access
local.identifier.drac5779641
dc.description.versionPostprint (published version)
local.citation.authorRosell, J.; Suárez, R.; Rosales, C.; Pérez, A.
local.citation.publicationNameAutonomous robots
local.citation.volume31
local.citation.number1
local.citation.startingPage87
local.citation.endingPage102


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain